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 | 73.2s | 3 errors · 396 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3732.449 us (Expected < 1666.667 us) --> Read time : 152.197 us, Update time : 3176.324 us, Write time : 403.928 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3732.449 us (Expected < 1666.667 us) --> Read time : 152.197 us, Update time : 3176.324 us, Write time : 403.928 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795159 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795159 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474637 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474637 ms (missed cycles : 5).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 3705.558 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 3183.094 us, Write time : 392.398 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 3705.558 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 3183.094 us, Write time : 392.398 us[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638257 ms (missed cycles : 5). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638257 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925073 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925073 ms (missed cycles : 3).[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 1825.453 us (Expected < 1666.667 us) --> Read time : 195.709 us, Update time : 542.364 us, Write time : 1087.380 us + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 1825.453 us (Expected < 1666.667 us) --> Read time : 195.709 us, Update time : 542.364 us, Write time : 1087.380 us[0m ×2 + 3.38sINFOjoint_trajectory_controllerGot request to cancel goal + 3.38sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.38sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.38sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781192143.13582039 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781192143.68762541 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649651 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649651 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 4.43sWARNcontroller_managerOverrun might occur, Total time : 2688.971 us (Expected < 1666.667 us) --> Read time : 127.315 us, Update time : 2246.842 us, Write time : 314.814 us + 4.43sWARNros2_control_nodeOverrun might occur, Total time : 2688.971 us (Expected < 1666.667 us) --> Read time : 127.315 us, Update time : 2246.842 us, Write time : 314.814 us[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811331 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811331 ms (missed cycles : 3).[0m ×2 + 5.52sWARNcontroller_managerOverrun might occur, Total time : 3677.817 us (Expected < 1666.667 us) --> Read time : 167.788 us, Update time : 3196.805 us, Write time : 313.224 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 3677.817 us (Expected < 1666.667 us) --> Read time : 167.788 us, Update time : 3196.805 us, Write time : 313.224 us[0m ×2 + 5.60sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490838 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490838 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521171 ms (missed cycles : 8). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.521171 ms (missed cycles : 8).[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 1718.618 us (Expected < 1666.667 us) --> Read time : 130.096 us, Update time : 92.284 us, Write time : 1496.238 us + 7.86sWARNros2_control_nodeOverrun might occur, Total time : 1718.618 us (Expected < 1666.667 us) --> Read time : 130.096 us, Update time : 92.284 us, Write time : 1496.238 us[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410609 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410609 ms (missed cycles : 3).[0m ×2 + 9.24sWARNcontroller_managerOverrun might occur, Total time : 2904.491 us (Expected < 1666.667 us) --> Read time : 158.907 us, Update time : 299.133 us, Write time : 2446.451 us + 9.24sWARNros2_control_nodeOverrun might occur, Total time : 2904.491 us (Expected < 1666.667 us) --> Read time : 158.907 us, Update time : 299.133 us, Write time : 2446.451 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742850 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742850 ms (missed cycles : 2).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375707 ms (missed cycles : 6). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.375707 ms (missed cycles : 6).[0m ×2 + 10.77sWARNcontroller_managerOverrun might occur, Total time : 2155.467 us (Expected < 1666.667 us) --> Read time : 173.868 us, Update time : 1593.782 us, Write time : 387.817 us + 10.77sWARNros2_control_nodeOverrun might occur, Total time : 2155.467 us (Expected < 1666.667 us) --> Read time : 173.868 us, Update time : 1593.782 us, Write time : 387.817 us[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958479 ms (missed cycles : 4). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958479 ms (missed cycles : 4).[0m ×2 + 12.28sWARNcontroller_managerOverrun might occur, Total time : 3504.798 us (Expected < 1666.667 us) --> Read time : 126.306 us, Update time : 3019.696 us, Write time : 358.796 us + 12.28sWARNros2_control_nodeOverrun might occur, Total time : 3504.798 us (Expected < 1666.667 us) --> Read time : 126.306 us, Update time : 3019.696 us, Write time : 358.796 us[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010689 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010689 ms (missed cycles : 4).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925379 ms (missed cycles : 2). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.925379 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun might occur, Total time : 4916.093 us (Expected < 1666.667 us) --> Read time : 156.567 us, Update time : 4416.790 us, Write time : 342.736 us + 13.61sWARNros2_control_nodeOverrun might occur, Total time : 4916.093 us (Expected < 1666.667 us) --> Read time : 156.567 us, Update time : 4416.790 us, Write time : 342.736 us[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750177 ms (missed cycles : 7). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750177 ms (missed cycles : 7).[0m ×2 + 15.23sWARNcontroller_managerOverrun might occur, Total time : 2890.801 us (Expected < 1666.667 us) --> Read time : 131.876 us, Update time : 2385.748 us, Write time : 373.177 us + 15.23sWARNros2_control_nodeOverrun might occur, Total time : 2890.801 us (Expected < 1666.667 us) --> Read time : 131.876 us, Update time : 2385.748 us, Write time : 373.177 us[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887633 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887633 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412862 ms (missed cycles : 5). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.412862 ms (missed cycles : 5).[0m ×2 + 16.83sWARNcontroller_managerOverrun might occur, Total time : 2935.353 us (Expected < 1666.667 us) --> Read time : 215.440 us, Update time : 155.507 us, Write time : 2564.406 us + 16.83sWARNros2_control_nodeOverrun might occur, Total time : 2935.353 us (Expected < 1666.667 us) --> Read time : 215.440 us, Update time : 155.507 us, Write time : 2564.406 us[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761177 ms (missed cycles : 4). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761177 ms (missed cycles : 4).[0m ×2 + 18.08sWARNcontroller_managerOverrun might occur, Total time : 3821.843 us (Expected < 1666.667 us) --> Read time : 146.437 us, Update time : 3195.445 us, Write time : 479.961 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 3821.843 us (Expected < 1666.667 us) --> Read time : 146.437 us, Update time : 3195.445 us, Write time : 479.961 us[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854816 ms (missed cycles : 4). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854816 ms (missed cycles : 4).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111292 ms (missed cycles : 3). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111292 ms (missed cycles : 3).[0m ×2 + 20.35sWARNcontroller_managerOverrun might occur, Total time : 5659.846 us (Expected < 1666.667 us) --> Read time : 150.837 us, Update time : 5162.214 us, Write time : 346.795 us + 20.35sWARNros2_control_nodeOverrun might occur, Total time : 5659.846 us (Expected < 1666.667 us) --> Read time : 150.837 us, Update time : 5162.214 us, Write time : 346.795 us[0m ×2 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798947 ms (missed cycles : 2). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798947 ms (missed cycles : 2).[0m ×2 + 21.49sWARNcontroller_managerOverrun might occur, Total time : 2454.361 us (Expected < 1666.667 us) --> Read time : 160.927 us, Update time : 1980.560 us, Write time : 312.874 us + 21.49sWARNros2_control_nodeOverrun might occur, Total time : 2454.361 us (Expected < 1666.667 us) --> Read time : 160.927 us, Update time : 1980.560 us, Write time : 312.874 us[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468084 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468084 ms (missed cycles : 2).[0m ×2 + 22.55sWARNcontroller_managerOverrun might occur, Total time : 2595.377 us (Expected < 1666.667 us) --> Read time : 196.439 us, Update time : 2045.312 us, Write time : 353.626 us + 22.55sWARNros2_control_nodeOverrun might occur, Total time : 2595.377 us (Expected < 1666.667 us) --> Read time : 196.439 us, Update time : 2045.312 us, Write time : 353.626 us[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.741372 ms (missed cycles : 10). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.741372 ms (missed cycles : 10).[0m ×2 + 23.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757027 ms (missed cycles : 2). + 23.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757027 ms (missed cycles : 2).[0m ×2 + 23.84sWARNcontroller_managerOverrun might occur, Total time : 3893.046 us (Expected < 1666.667 us) --> Read time : 173.168 us, Update time : 3377.753 us, Write time : 342.125 us + 23.84sWARNros2_control_nodeOverrun might occur, Total time : 3893.046 us (Expected < 1666.667 us) --> Read time : 173.168 us, Update time : 3377.753 us, Write time : 342.125 us[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839437 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839437 ms (missed cycles : 2).[0m ×2 + 25.67sWARNcontroller_managerOverrun might occur, Total time : 5381.274 us (Expected < 1666.667 us) --> Read time : 128.486 us, Update time : 4887.591 us, Write time : 365.197 us + 25.67sWARNros2_control_nodeOverrun might occur, Total time : 5381.274 us (Expected < 1666.667 us) --> Read time : 128.486 us, Update time : 4887.591 us, Write time : 365.197 us[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.816412 ms (missed cycles : 7). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.816412 ms (missed cycles : 7).[0m ×2 + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308628 ms (missed cycles : 5). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.308628 ms (missed cycles : 5).[0m ×2 + 27.40sWARNcontroller_managerOverrun might occur, Total time : 3801.463 us (Expected < 1666.667 us) --> Read time : 211.570 us, Update time : 3111.481 us, Write time : 478.412 us + 27.40sWARNros2_control_nodeOverrun might occur, Total time : 3801.463 us (Expected < 1666.667 us) --> Read time : 211.570 us, Update time : 3111.481 us, Write time : 478.412 us[0m ×2 + 27.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969422 ms (missed cycles : 2). + 27.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969422 ms (missed cycles : 2).[0m ×2 + 28.46sWARNcontroller_managerOverrun might occur, Total time : 1893.936 us (Expected < 1666.667 us) --> Read time : 146.937 us, Update time : 1242.926 us, Write time : 504.073 us + 28.47sWARNros2_control_nodeOverrun might occur, Total time : 1893.936 us (Expected < 1666.667 us) --> Read time : 146.937 us, Update time : 1242.926 us, Write time : 504.073 us[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533670 ms (missed cycles : 4). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533670 ms (missed cycles : 4).[0m ×2 + 29.98sWARNcontroller_managerOverrun might occur, Total time : 2523.674 us (Expected < 1666.667 us) --> Read time : 149.837 us, Update time : 1907.486 us, Write time : 466.351 us + 29.98sWARNros2_control_nodeOverrun might occur, Total time : 2523.674 us (Expected < 1666.667 us) --> Read time : 149.837 us, Update time : 1907.486 us, Write time : 466.351 us[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076441 ms (missed cycles : 4). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076441 ms (missed cycles : 4).[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483523 ms (missed cycles : 2). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483523 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun might occur, Total time : 5212.716 us (Expected < 1666.667 us) --> Read time : 149.907 us, Update time : 4744.254 us, Write time : 318.555 us + 31.59sWARNros2_control_nodeOverrun might occur, Total time : 5212.716 us (Expected < 1666.667 us) --> Read time : 149.907 us, Update time : 4744.254 us, Write time : 318.555 us[0m ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298638 ms (missed cycles : 2). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298638 ms (missed cycles : 2).[0m ×2 + 32.93sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.93sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.18sWARNcontroller_managerOverrun might occur, Total time : 3499.078 us (Expected < 1666.667 us) --> Read time : 198.429 us, Update time : 375.477 us, Write time : 2925.172 us + 33.19sWARNros2_control_nodeOverrun might occur, Total time : 3499.078 us (Expected < 1666.667 us) --> Read time : 198.429 us, Update time : 375.477 us, Write time : 2925.172 us[0m ×2 + 33.24sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165080 ms (missed cycles : 3). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165080 ms (missed cycles : 3).[0m ×2 + 33.92sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353900 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353900 ms (missed cycles : 2).[0m ×2 + 34.55sWARNcontroller_managerOverrun might occur, Total time : 3729.309 us (Expected < 1666.667 us) --> Read time : 154.047 us, Update time : 131.886 us, Write time : 3443.376 us + 34.55sWARNros2_control_nodeOverrun might occur, Total time : 3729.309 us (Expected < 1666.667 us) --> Read time : 154.047 us, Update time : 131.886 us, Write time : 3443.376 us[0m ×2 + 35.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.405881 ms (missed cycles : 6). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.405881 ms (missed cycles : 6).[0m ×2 + 35.90sWARNcontroller_managerOverrun might occur, Total time : 2278.204 us (Expected < 1666.667 us) --> Read time : 381.518 us, Update time : 1446.095 us, Write time : 450.591 us + 35.90sWARNros2_control_nodeOverrun might occur, Total time : 2278.204 us (Expected < 1666.667 us) --> Read time : 381.518 us, Update time : 1446.095 us, Write time : 450.591 us[0m ×2 + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773168 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773168 ms (missed cycles : 2).[0m ×2 + 37.43sINFOros2_control_nodeMuJoCo sim: 1.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426021 ms (missed cycles : 5). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.426021 ms (missed cycles : 5).[0m ×2 + 37.79sWARNcontroller_managerOverrun might occur, Total time : 2791.547 us (Expected < 1666.667 us) --> Read time : 176.988 us, Update time : 2069.944 us, Write time : 544.615 us + 37.79sWARNros2_control_nodeOverrun might occur, Total time : 2791.547 us (Expected < 1666.667 us) --> Read time : 176.988 us, Update time : 2069.944 us, Write time : 544.615 us[0m ×2 + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558765 ms (missed cycles : 3). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558765 ms (missed cycles : 3).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621319 ms (missed cycles : 2). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621319 ms (missed cycles : 2).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292995 ms (missed cycles : 2). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292995 ms (missed cycles : 2).[0m ×2 + 40.75sWARNcontroller_managerOverrun might occur, Total time : 1760.030 us (Expected < 1666.667 us) --> Read time : 129.646 us, Update time : 1328.540 us, Write time : 301.844 us + 40.75sWARNros2_control_nodeOverrun might occur, Total time : 1760.030 us (Expected < 1666.667 us) --> Read time : 129.646 us, Update time : 1328.540 us, Write time : 301.844 us[0m ×2 + 41.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620021 ms (missed cycles : 5). + 41.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.620021 ms (missed cycles : 5).[0m ×2 + 42.07sWARNcontroller_managerOverrun might occur, Total time : 5494.569 us (Expected < 1666.667 us) --> Read time : 128.906 us, Update time : 4923.013 us, Write time : 442.650 us + 42.07sWARNros2_control_nodeOverrun might occur, Total time : 5494.569 us (Expected < 1666.667 us) --> Read time : 128.906 us, Update time : 4923.013 us, Write time : 442.650 us[0m ×2 + 42.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892611 ms (missed cycles : 2). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892611 ms (missed cycles : 2).[0m ×2 + 43.27sWARNcontroller_managerOverrun might occur, Total time : 2121.986 us (Expected < 1666.667 us) --> Read time : 327.875 us, Update time : 154.777 us, Write time : 1639.334 us + 43.27sWARNros2_control_nodeOverrun might occur, Total time : 2121.986 us (Expected < 1666.667 us) --> Read time : 327.875 us, Update time : 154.777 us, Write time : 1639.334 us[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437511 ms (missed cycles : 4). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437511 ms (missed cycles : 4).[0m ×2 + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150104 ms (missed cycles : 2). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150104 ms (missed cycles : 2).[0m ×2 + 44.91sWARNcontroller_managerOverrun might occur, Total time : 2203.060 us (Expected < 1666.667 us) --> Read time : 136.367 us, Update time : 108.114 us, Write time : 1958.579 us + 44.91sWARNros2_control_nodeOverrun might occur, Total time : 2203.060 us (Expected < 1666.667 us) --> Read time : 136.367 us, Update time : 108.114 us, Write time : 1958.579 us[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.614996 ms (missed cycles : 8). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.614996 ms (missed cycles : 8).[0m ×2 + 46.16sWARNcontroller_managerOverrun might occur, Total time : 2057.693 us (Expected < 1666.667 us) --> Read time : 163.857 us, Update time : 1559.561 us, Write time : 334.275 us + 46.16sWARNros2_control_nodeOverrun might occur, Total time : 2057.693 us (Expected < 1666.667 us) --> Read time : 163.857 us, Update time : 1559.561 us, Write time : 334.275 us[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708001 ms (missed cycles : 2). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708001 ms (missed cycles : 2).[0m ×2 + 47.29sWARNcontroller_managerOverrun might occur, Total time : 1816.981 us (Expected < 1666.667 us) --> Read time : 148.987 us, Update time : 121.485 us, Write time : 1546.509 us + 47.29sWARNros2_control_nodeOverrun might occur, Total time : 1816.981 us (Expected < 1666.667 us) --> Read time : 148.987 us, Update time : 121.485 us, Write time : 1546.509 us[0m ×2 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526781 ms (missed cycles : 5). + 47.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.526781 ms (missed cycles : 5).[0m ×2 + 48.63sWARNcontroller_managerOverrun might occur, Total time : 3822.753 us (Expected < 1666.667 us) --> Read time : 150.006 us, Update time : 3215.236 us, Write time : 457.511 us + 48.63sWARNros2_control_nodeOverrun might occur, Total time : 3822.753 us (Expected < 1666.667 us) --> Read time : 150.006 us, Update time : 3215.236 us, Write time : 457.511 us[0m ×2 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104256 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104256 ms (missed cycles : 2).[0m ×2 + 50.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822020 ms (missed cycles : 4). + 50.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822020 ms (missed cycles : 4).[0m ×2 + 50.66sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 50.71sWARNcontroller_managerOverrun might occur, Total time : 3248.137 us (Expected < 1666.667 us) --> Read time : 167.717 us, Update time : 429.960 us, Write time : 2650.460 us + 50.71sWARNros2_control_nodeOverrun might occur, Total time : 3248.137 us (Expected < 1666.667 us) --> Read time : 167.717 us, Update time : 429.960 us, Write time : 2650.460 us[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224115 ms (missed cycles : 3). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224115 ms (missed cycles : 3).[0m ×2 + 51.99sWARNcontroller_managerOverrun might occur, Total time : 1729.758 us (Expected < 1666.667 us) --> Read time : 726.183 us, Update time : 136.186 us, Write time : 867.389 us + 52.00sWARNros2_control_nodeOverrun might occur, Total time : 1729.758 us (Expected < 1666.667 us) --> Read time : 726.183 us, Update time : 136.186 us, Write time : 867.389 us[0m ×2 + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875295 ms (missed cycles : 4). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875295 ms (missed cycles : 4).[0m ×2 + 53.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728113 ms (missed cycles : 2). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728113 ms (missed cycles : 2).[0m ×2 + 53.22sWARNcontroller_managerOverrun might occur, Total time : 3569.912 us (Expected < 1666.667 us) --> Read time : 145.347 us, Update time : 86.754 us, Write time : 3337.811 us + 53.22sWARNros2_control_nodeOverrun might occur, Total time : 3569.912 us (Expected < 1666.667 us) --> Read time : 145.347 us, Update time : 86.754 us, Write time : 3337.811 us[0m ×2 + 54.24sWARNcontroller_managerOverrun might occur, Total time : 1768.320 us (Expected < 1666.667 us) --> Read time : 101.155 us, Update time : 1283.468 us, Write time : 383.697 us + 54.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955324 ms (missed cycles : 2). + 54.24sWARNros2_control_nodeOverrun might occur, Total time : 1768.320 us (Expected < 1666.667 us) --> Read time : 101.155 us, Update time : 1283.468 us, Write time : 383.697 us[0m ×2 + 54.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955324 ms (missed cycles : 2).[0m ×2 + 55.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.500360 ms (missed cycles : 8). + 55.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.500360 ms (missed cycles : 8).[0m ×2 + 55.49sWARNcontroller_managerOverrun might occur, Total time : 2908.742 us (Expected < 1666.667 us) --> Read time : 170.318 us, Update time : 2344.826 us, Write time : 393.598 us + 55.50sWARNros2_control_nodeOverrun might occur, Total time : 2908.742 us (Expected < 1666.667 us) --> Read time : 170.318 us, Update time : 2344.826 us, Write time : 393.598 us[0m ×2 + 56.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860797 ms (missed cycles : 4). + 56.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860797 ms (missed cycles : 4).[0m ×2 + 56.53sWARNcontroller_managerOverrun might occur, Total time : 2797.587 us (Expected < 1666.667 us) --> Read time : 217.210 us, Update time : 647.909 us, Write time : 1932.468 us + 56.53sWARNros2_control_nodeOverrun might occur, Total time : 2797.587 us (Expected < 1666.667 us) --> Read time : 217.210 us, Update time : 647.909 us, Write time : 1932.468 us[0m ×2 + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454989 ms (missed cycles : 5). + 57.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.454989 ms (missed cycles : 5).[0m ×2 + 58.01sWARNcontroller_managerOverrun might occur, Total time : 5362.543 us (Expected < 1666.667 us) --> Read time : 138.136 us, Update time : 4832.539 us, Write time : 391.868 us + 58.01sWARNros2_control_nodeOverrun might occur, Total time : 5362.543 us (Expected < 1666.667 us) --> Read time : 138.136 us, Update time : 4832.539 us, Write time : 391.868 us[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292066 ms (missed cycles : 2). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292066 ms (missed cycles : 2).[0m ×2 + 59.08sWARNcontroller_managerOverrun might occur, Total time : 2007.931 us (Expected < 1666.667 us) --> Read time : 243.981 us, Update time : 168.518 us, Write time : 1595.432 us + 59.08sWARNros2_control_nodeOverrun might occur, Total time : 2007.931 us (Expected < 1666.667 us) --> Read time : 243.981 us, Update time : 168.518 us, Write time : 1595.432 us[0m ×2 + 59.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123718 ms (missed cycles : 2). + 59.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123718 ms (missed cycles : 2).[0m ×2 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700876 ms (missed cycles : 2). + 60.38sWARNcontroller_managerOverrun might occur, Total time : 1699.527 us (Expected < 1666.667 us) --> Read time : 164.867 us, Update time : 687.912 us, Write time : 846.748 us + 60.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700876 ms (missed cycles : 2).[0m ×2 + 60.39sWARNros2_control_nodeOverrun might occur, Total time : 1699.527 us (Expected < 1666.667 us) --> Read time : 164.867 us, Update time : 687.912 us, Write time : 846.748 us[0m ×2 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327163 ms (missed cycles : 3). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327163 ms (missed cycles : 3).[0m ×2 + 62.22sWARNcontroller_managerOverrun might occur, Total time : 1994.291 us (Expected < 1666.667 us) --> Read time : 120.786 us, Update time : 1520.499 us, Write time : 353.006 us + 62.22sWARNros2_control_nodeOverrun might occur, Total time : 1994.291 us (Expected < 1666.667 us) --> Read time : 120.786 us, Update time : 1520.499 us, Write time : 353.006 us[0m ×2 + 62.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478312 ms (missed cycles : 2). + 62.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478312 ms (missed cycles : 2).[0m ×2 + 62.81sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 63.42sWARNcontroller_managerOverrun might occur, Total time : 3425.695 us (Expected < 1666.667 us) --> Read time : 127.825 us, Update time : 2753.675 us, Write time : 544.195 us + 63.42sWARNros2_control_nodeOverrun might occur, Total time : 3425.695 us (Expected < 1666.667 us) --> Read time : 127.825 us, Update time : 2753.675 us, Write time : 544.195 us[0m ×2 + 63.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896343 ms (missed cycles : 3). + 63.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.896343 ms (missed cycles : 3).[0m ×2 + 64.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098657 ms (missed cycles : 2). + 64.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098657 ms (missed cycles : 2).[0m ×2 + 64.84sWARNcontroller_managerOverrun might occur, Total time : 2471.213 us (Expected < 1666.667 us) --> Read time : 177.758 us, Update time : 1901.847 us, Write time : 391.608 us + 64.84sWARNros2_control_nodeOverrun might occur, Total time : 2471.213 us (Expected < 1666.667 us) --> Read time : 177.758 us, Update time : 1901.847 us, Write time : 391.608 us[0m ×2 + 65.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982683 ms (missed cycles : 4). + 65.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982683 ms (missed cycles : 4).[0m ×2 + 66.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998803 ms (missed cycles : 2). + 66.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998803 ms (missed cycles : 2).[0m ×2 + 66.59sWARNcontroller_managerOverrun might occur, Total time : 3308.669 us (Expected < 1666.667 us) --> Read time : 214.649 us, Update time : 136.796 us, Write time : 2957.224 us + 66.59sWARNros2_control_nodeOverrun might occur, Total time : 3308.669 us (Expected < 1666.667 us) --> Read time : 214.649 us, Update time : 136.796 us, Write time : 2957.224 us[0m ×2 + 67.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931030 ms (missed cycles : 6). + 67.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.931030 ms (missed cycles : 6).[0m ×2 + 67.75sWARNcontroller_managerOverrun might occur, Total time : 1936.627 us (Expected < 1666.667 us) --> Read time : 730.773 us, Update time : 637.819 us, Write time : 568.035 us + 67.75sWARNros2_control_nodeOverrun might occur, Total time : 1936.627 us (Expected < 1666.667 us) --> Read time : 730.773 us, Update time : 637.819 us, Write time : 568.035 us[0m ×2 + 68.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410024 ms (missed cycles : 3). + 68.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410024 ms (missed cycles : 3).[0m ×2 + 69.02sWARNcontroller_managerOverrun might occur, Total time : 4945.034 us (Expected < 1666.667 us) --> Read time : 172.458 us, Update time : 115.685 us, Write time : 4656.891 us + 69.02sWARNros2_control_nodeOverrun might occur, Total time : 4945.034 us (Expected < 1666.667 us) --> Read time : 172.458 us, Update time : 115.685 us, Write time : 4656.891 us[0m ×2 + 69.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630324 ms (missed cycles : 2). + 69.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630324 ms (missed cycles : 2).[0m ×2 + 70.70sWARNcontroller_managerOverrun might occur, Total time : 1982.289 us (Expected < 1666.667 us) --> Read time : 169.607 us, Update time : 1283.488 us, Write time : 529.194 us + 70.70sWARNros2_control_nodeOverrun might occur, Total time : 1982.289 us (Expected < 1666.667 us) --> Read time : 169.607 us, Update time : 1283.488 us, Write time : 529.194 us[0m ×2 + 70.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778354 ms (missed cycles : 3). + 70.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778354 ms (missed cycles : 3).[0m ×2 + 71.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631569 ms (missed cycles : 3). + 71.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631569 ms (missed cycles : 3).[0m ×2 + 72.07sWARNcontroller_managerOverrun might occur, Total time : 2210.730 us (Expected < 1666.667 us) --> Read time : 1708.667 us, Update time : 182.578 us, Write time : 319.485 us + 72.08sWARNros2_control_nodeOverrun might occur, Total time : 2210.730 us (Expected < 1666.667 us) --> Read time : 1708.667 us, Update time : 182.578 us, Write time : 319.485 us[0m ×2 + 73.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 73.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 73.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 73.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 74.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 74.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 74.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 74.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 75.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 75.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 75.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 75.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 76.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 76.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 76.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 77.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 77.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 77.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 77.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 77.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 77.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 78.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 78.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 78.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 78.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 79.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 79.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 312 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 0.33sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.33sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 1.91sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.91sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.91sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.91sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191984.39263821 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.94369388 seconds. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876327 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876327 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783927 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783927 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun might occur, Total time : 1716.038 us (Expected < 1666.667 us) --> Read time : 145.847 us, Update time : 1234.086 us, Write time : 336.105 us + 8.33sWARNros2_control_nodeOverrun might occur, Total time : 1716.038 us (Expected < 1666.667 us) --> Read time : 145.847 us, Update time : 1234.086 us, Write time : 336.105 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037943 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037943 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun might occur, Total time : 3198.205 us (Expected < 1666.667 us) --> Read time : 143.467 us, Update time : 86.094 us, Write time : 2968.644 us + 9.79sWARNros2_control_nodeOverrun might occur, Total time : 3198.205 us (Expected < 1666.667 us) --> Read time : 143.467 us, Update time : 86.094 us, Write time : 2968.644 us[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422168 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422168 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun might occur, Total time : 3160.023 us (Expected < 1666.667 us) --> Read time : 171.418 us, Update time : 152.327 us, Write time : 2836.278 us + 11.14sWARNros2_control_nodeOverrun might occur, Total time : 3160.023 us (Expected < 1666.667 us) --> Read time : 171.418 us, Update time : 152.327 us, Write time : 2836.278 us[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.437295 ms (missed cycles : 7). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.437295 ms (missed cycles : 7).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659985 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.659985 ms (missed cycles : 3).[0m ×2 + 13.21sWARNcontroller_managerOverrun might occur, Total time : 2293.824 us (Expected < 1666.667 us) --> Read time : 285.923 us, Update time : 1514.909 us, Write time : 492.992 us + 13.21sWARNros2_control_nodeOverrun might occur, Total time : 2293.824 us (Expected < 1666.667 us) --> Read time : 285.923 us, Update time : 1514.909 us, Write time : 492.992 us[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735798 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735798 ms (missed cycles : 2).[0m ×2 + 14.42sWARNcontroller_managerOverrun might occur, Total time : 3723.689 us (Expected < 1666.667 us) --> Read time : 170.608 us, Update time : 2910.612 us, Write time : 642.469 us + 14.42sWARNros2_control_nodeOverrun might occur, Total time : 3723.689 us (Expected < 1666.667 us) --> Read time : 170.608 us, Update time : 2910.612 us, Write time : 642.469 us[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836385 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836385 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.544175 ms (missed cycles : 7). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.544175 ms (missed cycles : 7).[0m ×2 + 16.15sWARNcontroller_managerOverrun might occur, Total time : 5468.636 us (Expected < 1666.667 us) --> Read time : 149.896 us, Update time : 4931.013 us, Write time : 387.727 us + 16.15sWARNros2_control_nodeOverrun might occur, Total time : 5468.636 us (Expected < 1666.667 us) --> Read time : 149.896 us, Update time : 4931.013 us, Write time : 387.727 us[0m ×2 + 16.78sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318746 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318746 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun might occur, Total time : 3706.518 us (Expected < 1666.667 us) --> Read time : 145.877 us, Update time : 3152.203 us, Write time : 408.438 us + 17.24sWARNros2_control_nodeOverrun might occur, Total time : 3706.518 us (Expected < 1666.667 us) --> Read time : 145.877 us, Update time : 3152.203 us, Write time : 408.438 us[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889172 ms (missed cycles : 7). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889172 ms (missed cycles : 7).[0m ×2 + 18.80sWARNcontroller_managerOverrun might occur, Total time : 2415.719 us (Expected < 1666.667 us) --> Read time : 175.708 us, Update time : 793.966 us, Write time : 1446.045 us + 18.81sWARNros2_control_nodeOverrun might occur, Total time : 2415.719 us (Expected < 1666.667 us) --> Read time : 175.708 us, Update time : 793.966 us, Write time : 1446.045 us[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557872 ms (missed cycles : 2). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557872 ms (missed cycles : 2).[0m ×2 + 19.84sWARNcontroller_managerOverrun might occur, Total time : 2254.702 us (Expected < 1666.667 us) --> Read time : 146.196 us, Update time : 269.893 us, Write time : 1838.613 us + 19.84sWARNros2_control_nodeOverrun might occur, Total time : 2254.702 us (Expected < 1666.667 us) --> Read time : 146.196 us, Update time : 269.893 us, Write time : 1838.613 us[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640386 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640386 ms (missed cycles : 3).[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251265 ms (missed cycles : 5). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251265 ms (missed cycles : 5).[0m ×2 + 21.43sWARNcontroller_managerOverrun might occur, Total time : 1667.155 us (Expected < 1666.667 us) --> Read time : 158.577 us, Update time : 449.110 us, Write time : 1059.468 us + 21.43sWARNros2_control_nodeOverrun might occur, Total time : 1667.155 us (Expected < 1666.667 us) --> Read time : 158.577 us, Update time : 449.110 us, Write time : 1059.468 us[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606469 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606469 ms (missed cycles : 2).[0m ×2 + 22.48sWARNcontroller_managerOverrun might occur, Total time : 2037.282 us (Expected < 1666.667 us) --> Read time : 196.288 us, Update time : 357.107 us, Write time : 1483.887 us + 22.48sWARNros2_control_nodeOverrun might occur, Total time : 2037.282 us (Expected < 1666.667 us) --> Read time : 196.288 us, Update time : 357.107 us, Write time : 1483.887 us[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.420109 ms (missed cycles : 9). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.420109 ms (missed cycles : 9).[0m ×2 + 23.52sWARNcontroller_managerOverrun might occur, Total time : 2953.844 us (Expected < 1666.667 us) --> Read time : 128.416 us, Update time : 2520.384 us, Write time : 305.044 us + 23.53sWARNros2_control_nodeOverrun might occur, Total time : 2953.844 us (Expected < 1666.667 us) --> Read time : 128.416 us, Update time : 2520.384 us, Write time : 305.044 us[0m ×2 + 24.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754141 ms (missed cycles : 3). + 24.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754141 ms (missed cycles : 3).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662702 ms (missed cycles : 3). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662702 ms (missed cycles : 3).[0m ×2 + 25.15sWARNcontroller_managerOverrun might occur, Total time : 1825.813 us (Expected < 1666.667 us) --> Read time : 275.702 us, Update time : 746.844 us, Write time : 803.267 us + 25.16sWARNros2_control_nodeOverrun might occur, Total time : 1825.813 us (Expected < 1666.667 us) --> Read time : 275.702 us, Update time : 746.844 us, Write time : 803.267 us[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116329 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116329 ms (missed cycles : 2).[0m ×2 + 26.23sWARNcontroller_managerOverrun might occur, Total time : 3770.230 us (Expected < 1666.667 us) --> Read time : 123.085 us, Update time : 124.666 us, Write time : 3522.479 us + 26.23sWARNros2_control_nodeOverrun might occur, Total time : 3770.230 us (Expected < 1666.667 us) --> Read time : 123.085 us, Update time : 124.666 us, Write time : 3522.479 us[0m ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394870 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394870 ms (missed cycles : 3).[0m ×2 + 27.84sWARNcontroller_managerOverrun might occur, Total time : 1824.053 us (Expected < 1666.667 us) --> Read time : 766.605 us, Update time : 193.589 us, Write time : 863.859 us + 27.84sWARNros2_control_nodeOverrun might occur, Total time : 1824.053 us (Expected < 1666.667 us) --> Read time : 766.605 us, Update time : 193.589 us, Write time : 863.859 us[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245919 ms (missed cycles : 2). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245919 ms (missed cycles : 2).[0m ×2 + 28.97sWARNcontroller_managerOverrun might occur, Total time : 2539.835 us (Expected < 1666.667 us) --> Read time : 2041.963 us, Update time : 165.527 us, Write time : 332.345 us + 28.97sWARNros2_control_nodeOverrun might occur, Total time : 2539.835 us (Expected < 1666.667 us) --> Read time : 2041.963 us, Update time : 165.527 us, Write time : 332.345 us[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800995 ms (missed cycles : 4). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.800995 ms (missed cycles : 4).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600093 ms (missed cycles : 2). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600093 ms (missed cycles : 2).[0m ×2 + 31.32sWARNcontroller_managerOverrun might occur, Total time : 6740.035 us (Expected < 1666.667 us) --> Read time : 144.306 us, Update time : 112.745 us, Write time : 6482.984 us + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290547 ms (missed cycles : 5). + 31.32sWARNros2_control_nodeOverrun might occur, Total time : 6740.035 us (Expected < 1666.667 us) --> Read time : 144.306 us, Update time : 112.745 us, Write time : 6482.984 us[0m ×2 + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290547 ms (missed cycles : 5).[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360404 ms (missed cycles : 3). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360404 ms (missed cycles : 3).[0m ×2 + 33.12sWARNcontroller_managerOverrun might occur, Total time : 2058.613 us (Expected < 1666.667 us) --> Read time : 207.009 us, Update time : 171.747 us, Write time : 1679.857 us + 33.12sWARNros2_control_nodeOverrun might occur, Total time : 2058.613 us (Expected < 1666.667 us) --> Read time : 207.009 us, Update time : 171.747 us, Write time : 1679.857 us[0m ×2 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204738 ms (missed cycles : 6). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.204738 ms (missed cycles : 6).[0m ×2 + 34.27sWARNcontroller_managerOverrun might occur, Total time : 1932.977 us (Expected < 1666.667 us) --> Read time : 220.310 us, Update time : 1387.123 us, Write time : 325.544 us + 34.27sWARNros2_control_nodeOverrun might occur, Total time : 1932.977 us (Expected < 1666.667 us) --> Read time : 220.310 us, Update time : 1387.123 us, Write time : 325.544 us[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390650 ms (missed cycles : 5). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.390650 ms (missed cycles : 5).[0m ×2 + 35.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868079 ms (missed cycles : 3). + 35.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868079 ms (missed cycles : 3).[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193463 ms (missed cycles : 2). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193463 ms (missed cycles : 2).[0m ×2 + 37.45sWARNcontroller_managerOverrun might occur, Total time : 3118.741 us (Expected < 1666.667 us) --> Read time : 143.406 us, Update time : 2575.227 us, Write time : 400.108 us + 37.46sWARNros2_control_nodeOverrun might occur, Total time : 3118.741 us (Expected < 1666.667 us) --> Read time : 143.406 us, Update time : 2575.227 us, Write time : 400.108 us[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125806 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125806 ms (missed cycles : 2).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871162 ms (missed cycles : 3). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.871162 ms (missed cycles : 3).[0m ×2 + 39.35sWARNcontroller_managerOverrun might occur, Total time : 2664.861 us (Expected < 1666.667 us) --> Read time : 137.036 us, Update time : 2190.590 us, Write time : 337.235 us + 39.35sWARNros2_control_nodeOverrun might occur, Total time : 2664.861 us (Expected < 1666.667 us) --> Read time : 137.036 us, Update time : 2190.590 us, Write time : 337.235 us[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696027 ms (missed cycles : 3). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696027 ms (missed cycles : 3).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846650 ms (missed cycles : 4). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846650 ms (missed cycles : 4).[0m ×2 + 40.75sWARNcontroller_managerOverrun might occur, Total time : 2373.907 us (Expected < 1666.667 us) --> Read time : 138.266 us, Update time : 95.054 us, Write time : 2140.587 us + 40.76sWARNros2_control_nodeOverrun might occur, Total time : 2373.907 us (Expected < 1666.667 us) --> Read time : 138.266 us, Update time : 95.054 us, Write time : 2140.587 us[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270960 ms (missed cycles : 2). + 41.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270960 ms (missed cycles : 2).[0m ×2 + 42.53sWARNcontroller_managerOverrun might occur, Total time : 4908.302 us (Expected < 1666.667 us) --> Read time : 178.308 us, Update time : 162.917 us, Write time : 4567.077 us + 42.53sWARNros2_control_nodeOverrun might occur, Total time : 4908.302 us (Expected < 1666.667 us) --> Read time : 178.308 us, Update time : 162.917 us, Write time : 4567.077 us[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673352 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673352 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907845 ms (missed cycles : 2). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907845 ms (missed cycles : 2).[0m ×2 + 43.83sWARNcontroller_managerOverrun might occur, Total time : 1796.112 us (Expected < 1666.667 us) --> Read time : 203.000 us, Update time : 352.266 us, Write time : 1240.846 us + 43.83sWARNros2_control_nodeOverrun might occur, Total time : 1796.112 us (Expected < 1666.667 us) --> Read time : 203.000 us, Update time : 352.266 us, Write time : 1240.846 us[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557108 ms (missed cycles : 3). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557108 ms (missed cycles : 3).[0m ×2 + 44.88sWARNcontroller_managerOverrun might occur, Total time : 2064.973 us (Expected < 1666.667 us) --> Read time : 148.487 us, Update time : 1601.272 us, Write time : 315.214 us + 44.89sWARNros2_control_nodeOverrun might occur, Total time : 2064.973 us (Expected < 1666.667 us) --> Read time : 148.487 us, Update time : 1601.272 us, Write time : 315.214 us[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295865 ms (missed cycles : 3). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.295865 ms (missed cycles : 3).[0m ×2 + 46.42sWARNcontroller_managerOverrun might occur, Total time : 2106.146 us (Expected < 1666.667 us) --> Read time : 134.146 us, Update time : 1620.234 us, Write time : 351.766 us + 46.43sWARNros2_control_nodeOverrun might occur, Total time : 2106.146 us (Expected < 1666.667 us) --> Read time : 134.146 us, Update time : 1620.234 us, Write time : 351.766 us[0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347015 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347015 ms (missed cycles : 3).[0m ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928031 ms (missed cycles : 6). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928031 ms (missed cycles : 6).[0m ×2 + 48.05sWARNcontroller_managerOverrun might occur, Total time : 2334.876 us (Expected < 1666.667 us) --> Read time : 158.098 us, Update time : 1873.484 us, Write time : 303.294 us + 48.06sWARNros2_control_nodeOverrun might occur, Total time : 2334.876 us (Expected < 1666.667 us) --> Read time : 158.098 us, Update time : 1873.484 us, Write time : 303.294 us[0m ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109867 ms (missed cycles : 2). + 48.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109867 ms (missed cycles : 2).[0m ×2 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861066 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861066 ms (missed cycles : 2).[0m ×2 + 50.70sWARNcontroller_managerOverrun might occur, Total time : 3362.532 us (Expected < 1666.667 us) --> Read time : 136.756 us, Update time : 2815.137 us, Write time : 410.639 us + 50.70sWARNros2_control_nodeOverrun might occur, Total time : 3362.532 us (Expected < 1666.667 us) --> Read time : 136.756 us, Update time : 2815.137 us, Write time : 410.639 us[0m ×2 + 51.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707701 ms (missed cycles : 4). + 51.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707701 ms (missed cycles : 4).[0m ×2 + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493470 ms (missed cycles : 5). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493470 ms (missed cycles : 5).[0m ×2 + 52.22sWARNcontroller_managerOverrun might occur, Total time : 1701.106 us (Expected < 1666.667 us) --> Read time : 152.626 us, Update time : 1245.066 us, Write time : 303.414 us + 52.22sWARNros2_control_nodeOverrun might occur, Total time : 1701.106 us (Expected < 1666.667 us) --> Read time : 152.626 us, Update time : 1245.066 us, Write time : 303.414 us[0m ×2 + 53.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086702 ms (missed cycles : 6). + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.086702 ms (missed cycles : 6).[0m ×2 + 53.99sWARNcontroller_managerOverrun might occur, Total time : 3085.080 us (Expected < 1666.667 us) --> Read time : 138.816 us, Update time : 128.126 us, Write time : 2818.138 us + 53.99sWARNros2_control_nodeOverrun might occur, Total time : 3085.080 us (Expected < 1666.667 us) --> Read time : 138.816 us, Update time : 128.126 us, Write time : 2818.138 us[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346340 ms (missed cycles : 5). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346340 ms (missed cycles : 5).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541467 ms (missed cycles : 5). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541467 ms (missed cycles : 5).[0m ×2 + 55.68sWARNcontroller_managerOverrun might occur, Total time : 2235.701 us (Expected < 1666.667 us) --> Read time : 1147.092 us, Update time : 529.904 us, Write time : 558.705 us + 55.68sWARNros2_control_nodeOverrun might occur, Total time : 2235.701 us (Expected < 1666.667 us) --> Read time : 1147.092 us, Update time : 529.904 us, Write time : 558.705 us[0m ×2 + 56.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986462 ms (missed cycles : 6). + 56.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.986462 ms (missed cycles : 6).[0m ×2 + 56.69sWARNcontroller_managerOverrun might occur, Total time : 2158.098 us (Expected < 1666.667 us) --> Read time : 154.127 us, Update time : 1685.377 us, Write time : 318.594 us + 56.69sWARNros2_control_nodeOverrun might occur, Total time : 2158.098 us (Expected < 1666.667 us) --> Read time : 154.127 us, Update time : 1685.377 us, Write time : 318.594 us[0m ×2 + 57.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5). + 57.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 57.75sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 57.75sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 59.04sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 59.04sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 60.15sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 60.15sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 61.04sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 61.36sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 61.36sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 61.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 61.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 61.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 61.95sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 61.97sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 62.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 62.74sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 62.74sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 63.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 63.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.7s | 306 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.54sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 2130.066 us (Expected < 1666.667 us) --> Read time : 144.066 us, Update time : 1606.573 us, Write time : 379.427 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 2130.066 us (Expected < 1666.667 us) --> Read time : 144.066 us, Update time : 1606.573 us, Write time : 379.427 us[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504783 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.504783 ms (missed cycles : 5).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576807 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576807 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun might occur, Total time : 1869.115 us (Expected < 1666.667 us) --> Read time : 328.245 us, Update time : 1231.076 us, Write time : 309.794 us + 8.53sWARNros2_control_nodeOverrun might occur, Total time : 1869.115 us (Expected < 1666.667 us) --> Read time : 328.245 us, Update time : 1231.076 us, Write time : 309.794 us[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898956 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898956 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun might occur, Total time : 1954.858 us (Expected < 1666.667 us) --> Read time : 133.976 us, Update time : 1557.871 us, Write time : 263.011 us + 9.98sWARNros2_control_nodeOverrun might occur, Total time : 1954.858 us (Expected < 1666.667 us) --> Read time : 133.976 us, Update time : 1557.871 us, Write time : 263.011 us[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730712 ms (missed cycles : 4). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730712 ms (missed cycles : 4).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744526 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744526 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910487 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910487 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659270 ms (missed cycles : 5). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.659270 ms (missed cycles : 5).[0m ×2 + 14.29sWARNcontroller_managerOverrun might occur, Total time : 1990.500 us (Expected < 1666.667 us) --> Read time : 230.761 us, Update time : 153.027 us, Write time : 1606.712 us + 14.29sWARNros2_control_nodeOverrun might occur, Total time : 1990.500 us (Expected < 1666.667 us) --> Read time : 230.761 us, Update time : 153.027 us, Write time : 1606.712 us[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507553 ms (missed cycles : 5). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507553 ms (missed cycles : 5).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919274 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919274 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun might occur, Total time : 2690.532 us (Expected < 1666.667 us) --> Read time : 582.487 us, Update time : 1725.178 us, Write time : 382.867 us + 16.23sWARNros2_control_nodeOverrun might occur, Total time : 2690.532 us (Expected < 1666.667 us) --> Read time : 582.487 us, Update time : 1725.178 us, Write time : 382.867 us[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624666 ms (missed cycles : 5). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.624666 ms (missed cycles : 5).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160843 ms (missed cycles : 6). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.160843 ms (missed cycles : 6).[0m ×2 + 18.56sWARNcontroller_managerOverrun might occur, Total time : 2060.854 us (Expected < 1666.667 us) --> Read time : 202.959 us, Update time : 107.115 us, Write time : 1750.780 us + 18.56sWARNros2_control_nodeOverrun might occur, Total time : 2060.854 us (Expected < 1666.667 us) --> Read time : 202.959 us, Update time : 107.115 us, Write time : 1750.780 us[0m ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121426 ms (missed cycles : 3). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121426 ms (missed cycles : 3).[0m ×2 + 19.63sWARNcontroller_managerOverrun might occur, Total time : 3289.179 us (Expected < 1666.667 us) --> Read time : 194.189 us, Update time : 179.928 us, Write time : 2915.062 us + 19.63sWARNros2_control_nodeOverrun might occur, Total time : 3289.179 us (Expected < 1666.667 us) --> Read time : 194.189 us, Update time : 179.928 us, Write time : 2915.062 us[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767237 ms (missed cycles : 3). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767237 ms (missed cycles : 3).[0m ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651366 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651366 ms (missed cycles : 2).[0m ×2 + 21.06sWARNcontroller_managerOverrun might occur, Total time : 1838.143 us (Expected < 1666.667 us) --> Read time : 298.963 us, Update time : 1018.287 us, Write time : 520.893 us + 21.06sWARNros2_control_nodeOverrun might occur, Total time : 1838.143 us (Expected < 1666.667 us) --> Read time : 298.963 us, Update time : 1018.287 us, Write time : 520.893 us[0m ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111253 ms (missed cycles : 7). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.111253 ms (missed cycles : 7).[0m ×2 + 22.54sWARNcontroller_managerOverrun might occur, Total time : 1839.053 us (Expected < 1666.667 us) --> Read time : 160.127 us, Update time : 720.273 us, Write time : 958.653 us + 22.55sWARNros2_control_nodeOverrun might occur, Total time : 1839.053 us (Expected < 1666.667 us) --> Read time : 160.127 us, Update time : 720.273 us, Write time : 958.653 us[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634618 ms (missed cycles : 3). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634618 ms (missed cycles : 3).[0m ×2 + 23.64sWARNcontroller_managerOverrun might occur, Total time : 3897.957 us (Expected < 1666.667 us) --> Read time : 182.908 us, Update time : 189.659 us, Write time : 3525.390 us + 23.64sWARNros2_control_nodeOverrun might occur, Total time : 3897.957 us (Expected < 1666.667 us) --> Read time : 182.908 us, Update time : 189.659 us, Write time : 3525.390 us[0m ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579904 ms (missed cycles : 5). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579904 ms (missed cycles : 5).[0m ×2 + 24.43sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.65sWARNcontroller_managerOverrun might occur, Total time : 6008.913 us (Expected < 1666.667 us) --> Read time : 136.786 us, Update time : 5560.673 us, Write time : 311.454 us + 24.65sWARNros2_control_nodeOverrun might occur, Total time : 6008.913 us (Expected < 1666.667 us) --> Read time : 136.786 us, Update time : 5560.673 us, Write time : 311.454 us[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768468 ms (missed cycles : 5). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.768468 ms (missed cycles : 5).[0m ×2 + 26.30sWARNcontroller_managerOverrun might occur, Total time : 3997.730 us (Expected < 1666.667 us) --> Read time : 3488.477 us, Update time : 158.468 us, Write time : 350.785 us + 26.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241036 ms (missed cycles : 3). + 26.30sWARNros2_control_nodeOverrun might occur, Total time : 3997.730 us (Expected < 1666.667 us) --> Read time : 3488.477 us, Update time : 158.468 us, Write time : 350.785 us[0m ×2 + 26.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241036 ms (missed cycles : 3).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742969 ms (missed cycles : 3). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742969 ms (missed cycles : 3).[0m ×2 + 27.76sWARNcontroller_managerOverrun might occur, Total time : 3709.948 us (Expected < 1666.667 us) --> Read time : 224.501 us, Update time : 3119.201 us, Write time : 366.246 us + 27.76sWARNros2_control_nodeOverrun might occur, Total time : 3709.948 us (Expected < 1666.667 us) --> Read time : 224.501 us, Update time : 3119.201 us, Write time : 366.246 us[0m ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472028 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472028 ms (missed cycles : 2).[0m ×2 + 28.79sWARNcontroller_managerOverrun might occur, Total time : 1740.699 us (Expected < 1666.667 us) --> Read time : 159.148 us, Update time : 1285.968 us, Write time : 295.583 us + 28.79sWARNros2_control_nodeOverrun might occur, Total time : 1740.699 us (Expected < 1666.667 us) --> Read time : 159.148 us, Update time : 1285.968 us, Write time : 295.583 us[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274822 ms (missed cycles : 4). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274822 ms (missed cycles : 4).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481550 ms (missed cycles : 5). + 30.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481550 ms (missed cycles : 5).[0m ×2 + 30.52sWARNcontroller_managerOverrun might occur, Total time : 7484.009 us (Expected < 1666.667 us) --> Read time : 161.718 us, Update time : 98.964 us, Write time : 7223.327 us + 30.52sWARNros2_control_nodeOverrun might occur, Total time : 7484.009 us (Expected < 1666.667 us) --> Read time : 161.718 us, Update time : 98.964 us, Write time : 7223.327 us[0m ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930492 ms (missed cycles : 4). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.930492 ms (missed cycles : 4).[0m ×2 + 32.34sWARNcontroller_managerOverrun might occur, Total time : 3140.613 us (Expected < 1666.667 us) --> Read time : 134.557 us, Update time : 2486.762 us, Write time : 519.294 us + 32.34sWARNros2_control_nodeOverrun might occur, Total time : 3140.613 us (Expected < 1666.667 us) --> Read time : 134.557 us, Update time : 2486.762 us, Write time : 519.294 us[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061482 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.061482 ms (missed cycles : 3).[0m ×2 + 33.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504101 ms (missed cycles : 2). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504101 ms (missed cycles : 2).[0m ×2 + 33.72sWARNcontroller_managerOverrun might occur, Total time : 2394.479 us (Expected < 1666.667 us) --> Read time : 806.567 us, Update time : 153.737 us, Write time : 1434.175 us + 33.73sWARNros2_control_nodeOverrun might occur, Total time : 2394.479 us (Expected < 1666.667 us) --> Read time : 806.567 us, Update time : 153.737 us, Write time : 1434.175 us[0m ×2 + 34.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784835 ms (missed cycles : 5). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784835 ms (missed cycles : 5).[0m ×2 + 35.18sWARNcontroller_managerOverrun might occur, Total time : 1724.438 us (Expected < 1666.667 us) --> Read time : 160.107 us, Update time : 127.926 us, Write time : 1436.405 us + 35.18sWARNros2_control_nodeOverrun might occur, Total time : 1724.438 us (Expected < 1666.667 us) --> Read time : 160.107 us, Update time : 127.926 us, Write time : 1436.405 us[0m ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415839 ms (missed cycles : 3). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415839 ms (missed cycles : 3).[0m ×2 + 36.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072745 ms (missed cycles : 3). + 36.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072745 ms (missed cycles : 3).[0m ×2 + 36.82sWARNcontroller_managerOverrun might occur, Total time : 7633.477 us (Expected < 1666.667 us) --> Read time : 126.586 us, Update time : 7099.662 us, Write time : 407.229 us + 36.82sWARNros2_control_nodeOverrun might occur, Total time : 7633.477 us (Expected < 1666.667 us) --> Read time : 126.586 us, Update time : 7099.662 us, Write time : 407.229 us[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814242 ms (missed cycles : 5). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814242 ms (missed cycles : 5).[0m ×2 + 37.83sWARNcontroller_managerOverrun might occur, Total time : 1756.320 us (Expected < 1666.667 us) --> Read time : 181.658 us, Update time : 1151.843 us, Write time : 422.819 us + 37.83sWARNros2_control_nodeOverrun might occur, Total time : 1756.320 us (Expected < 1666.667 us) --> Read time : 181.658 us, Update time : 1151.843 us, Write time : 422.819 us[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372452 ms (missed cycles : 3). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372452 ms (missed cycles : 3).[0m ×2 + 39.50sWARNcontroller_managerOverrun might occur, Total time : 2039.123 us (Expected < 1666.667 us) --> Read time : 571.366 us, Update time : 1059.898 us, Write time : 407.859 us + 39.50sWARNros2_control_nodeOverrun might occur, Total time : 2039.123 us (Expected < 1666.667 us) --> Read time : 571.366 us, Update time : 1059.898 us, Write time : 407.859 us[0m ×2 + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354212 ms (missed cycles : 3). + 39.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354212 ms (missed cycles : 3).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796010 ms (missed cycles : 3). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796010 ms (missed cycles : 3).[0m ×2 + 41.74sWARNcontroller_managerOverrun might occur, Total time : 3364.242 us (Expected < 1666.667 us) --> Read time : 2752.784 us, Update time : 155.277 us, Write time : 456.181 us + 41.74sWARNros2_control_nodeOverrun might occur, Total time : 3364.242 us (Expected < 1666.667 us) --> Read time : 2752.784 us, Update time : 155.277 us, Write time : 456.181 us[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576682 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576682 ms (missed cycles : 2).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607861 ms (missed cycles : 3). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607861 ms (missed cycles : 3).[0m ×2 + 43.07sWARNcontroller_managerOverrun might occur, Total time : 2289.513 us (Expected < 1666.667 us) --> Read time : 251.031 us, Update time : 1671.436 us, Write time : 367.046 us + 43.07sWARNros2_control_nodeOverrun might occur, Total time : 2289.513 us (Expected < 1666.667 us) --> Read time : 251.031 us, Update time : 1671.436 us, Write time : 367.046 us[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485748 ms (missed cycles : 5). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.485748 ms (missed cycles : 5).[0m ×2 + 44.33sWARNcontroller_managerOverrun might occur, Total time : 8500.515 us (Expected < 1666.667 us) --> Read time : 146.957 us, Update time : 8001.592 us, Write time : 351.966 us + 44.33sWARNros2_control_nodeOverrun might occur, Total time : 8500.515 us (Expected < 1666.667 us) --> Read time : 146.957 us, Update time : 8001.592 us, Write time : 351.966 us[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785951 ms (missed cycles : 2). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785951 ms (missed cycles : 2).[0m ×2 + 45.48sWARNcontroller_managerOverrun might occur, Total time : 2054.823 us (Expected < 1666.667 us) --> Read time : 133.296 us, Update time : 1541.900 us, Write time : 379.627 us + 45.48sWARNros2_control_nodeOverrun might occur, Total time : 2054.823 us (Expected < 1666.667 us) --> Read time : 133.296 us, Update time : 1541.900 us, Write time : 379.627 us[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413621 ms (missed cycles : 3). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413621 ms (missed cycles : 3).[0m ×2 + 46.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003705 ms (missed cycles : 6). + 46.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.003705 ms (missed cycles : 6).[0m ×2 + 47.30sWARNcontroller_managerOverrun might occur, Total time : 2678.981 us (Expected < 1666.667 us) --> Read time : 2128.626 us, Update time : 168.207 us, Write time : 382.148 us + 47.30sWARNros2_control_nodeOverrun might occur, Total time : 2678.981 us (Expected < 1666.667 us) --> Read time : 2128.626 us, Update time : 168.207 us, Write time : 382.148 us[0m ×2 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993283 ms (missed cycles : 4). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.993283 ms (missed cycles : 4).[0m ×2 + 48.93sWARNcontroller_managerOverrun might occur, Total time : 3772.360 us (Expected < 1666.667 us) --> Read time : 143.946 us, Update time : 3248.987 us, Write time : 379.427 us + 48.93sWARNros2_control_nodeOverrun might occur, Total time : 3772.360 us (Expected < 1666.667 us) --> Read time : 143.946 us, Update time : 3248.987 us, Write time : 379.427 us[0m ×2 + 49.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.116018 ms (missed cycles : 7). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.116018 ms (missed cycles : 7).[0m ×2 + 50.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975022 ms (missed cycles : 4). + 50.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975022 ms (missed cycles : 4).[0m ×2 + 50.53sWARNcontroller_managerOverrun might occur, Total time : 4800.007 us (Expected < 1666.667 us) --> Read time : 164.018 us, Update time : 4222.291 us, Write time : 413.698 us + 50.53sWARNros2_control_nodeOverrun might occur, Total time : 4800.007 us (Expected < 1666.667 us) --> Read time : 164.018 us, Update time : 4222.291 us, Write time : 413.698 us[0m ×2 + 51.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.475264 ms (missed cycles : 6). + 51.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.475264 ms (missed cycles : 6).[0m ×2 + 51.65sWARNcontroller_managerOverrun might occur, Total time : 2354.966 us (Expected < 1666.667 us) --> Read time : 154.927 us, Update time : 1915.116 us, Write time : 284.923 us + 51.65sWARNros2_control_nodeOverrun might occur, Total time : 2354.966 us (Expected < 1666.667 us) --> Read time : 154.927 us, Update time : 1915.116 us, Write time : 284.923 us[0m ×2 + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584586 ms (missed cycles : 3). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584586 ms (missed cycles : 3).[0m ×2 + 52.84sWARNcontroller_managerOverrun might occur, Total time : 6957.034 us (Expected < 1666.667 us) --> Read time : 122.635 us, Update time : 6450.081 us, Write time : 384.318 us + 52.84sWARNros2_control_nodeOverrun might occur, Total time : 6957.034 us (Expected < 1666.667 us) --> Read time : 122.635 us, Update time : 6450.081 us, Write time : 384.318 us[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387464 ms (missed cycles : 3). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387464 ms (missed cycles : 3).[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112890 ms (missed cycles : 3). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112890 ms (missed cycles : 3).[0m ×2 + 54.33sWARNcontroller_managerOverrun might occur, Total time : 3938.549 us (Expected < 1666.667 us) --> Read time : 161.148 us, Update time : 3391.343 us, Write time : 386.058 us + 54.33sWARNros2_control_nodeOverrun might occur, Total time : 3938.549 us (Expected < 1666.667 us) --> Read time : 161.148 us, Update time : 3391.343 us, Write time : 386.058 us[0m ×2 + 55.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558753 ms (missed cycles : 5). + 55.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558753 ms (missed cycles : 5).[0m ×2 + 55.36sWARNcontroller_managerOverrun might occur, Total time : 2520.574 us (Expected < 1666.667 us) --> Read time : 162.048 us, Update time : 2069.073 us, Write time : 289.453 us + 55.37sWARNros2_control_nodeOverrun might occur, Total time : 2520.574 us (Expected < 1666.667 us) --> Read time : 162.048 us, Update time : 2069.073 us, Write time : 289.453 us[0m ×2 + 56.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187900 ms (missed cycles : 3). + 56.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187900 ms (missed cycles : 3).[0m ×2 + 56.56sWARNcontroller_managerOverrun might occur, Total time : 4013.432 us (Expected < 1666.667 us) --> Read time : 134.286 us, Update time : 3529.460 us, Write time : 349.686 us + 56.57sWARNros2_control_nodeOverrun might occur, Total time : 4013.432 us (Expected < 1666.667 us) --> Read time : 134.286 us, Update time : 3529.460 us, Write time : 349.686 us[0m ×2 + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493350 ms (missed cycles : 5). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493350 ms (missed cycles : 5).[0m ×2 + 57.69sWARNcontroller_managerOverrun might occur, Total time : 3882.616 us (Expected < 1666.667 us) --> Read time : 132.376 us, Update time : 3259.318 us, Write time : 490.922 us + 57.69sWARNros2_control_nodeOverrun might occur, Total time : 3882.616 us (Expected < 1666.667 us) --> Read time : 132.376 us, Update time : 3259.318 us, Write time : 490.922 us[0m ×2 + 58.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216915 ms (missed cycles : 5). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216915 ms (missed cycles : 5).[0m ×2 + 58.75sWARNcontroller_managerOverrun might occur, Total time : 1959.279 us (Expected < 1666.667 us) --> Read time : 193.399 us, Update time : 194.498 us, Write time : 1571.382 us + 58.75sWARNros2_control_nodeOverrun might occur, Total time : 1959.279 us (Expected < 1666.667 us) --> Read time : 193.399 us, Update time : 194.498 us, Write time : 1571.382 us[0m ×2 + 59.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781192272.02756906 seconds ×3 + 59.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221523 ms (missed cycles : 5). + 59.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221523 ms (missed cycles : 5).[0m ×2 + 59.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781192272.57984662 seconds. ×3 + 59.92sWARNcontroller_managerOverrun might occur, Total time : 7275.019 us (Expected < 1666.667 us) --> Read time : 161.237 us, Update time : 6604.279 us, Write time : 509.503 us + 59.92sWARNros2_control_nodeOverrun might occur, Total time : 7275.019 us (Expected < 1666.667 us) --> Read time : 161.237 us, Update time : 6604.279 us, Write time : 509.503 us[0m ×2 + 60.19sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 60.21sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508437 ms (missed cycles : 3). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508437 ms (missed cycles : 3).[0m ×2 + 61.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529218 ms (missed cycles : 5). + 61.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529218 ms (missed cycles : 5).[0m ×2 + 61.90sWARNcontroller_managerOverrun might occur, Total time : 3560.311 us (Expected < 1666.667 us) --> Read time : 181.638 us, Update time : 155.417 us, Write time : 3223.256 us + 61.91sWARNros2_control_nodeOverrun might occur, Total time : 3560.311 us (Expected < 1666.667 us) --> Read time : 181.638 us, Update time : 155.417 us, Write time : 3223.256 us[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.3s | 300 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.03sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.86674976 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.42086339 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.26sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.26sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun might occur, Total time : 7235.866 us (Expected < 1666.667 us) --> Read time : 164.617 us, Update time : 89.034 us, Write time : 6982.215 us + 7.55sWARNros2_control_nodeOverrun might occur, Total time : 7235.866 us (Expected < 1666.667 us) --> Read time : 164.617 us, Update time : 89.034 us, Write time : 6982.215 us[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715958 ms (missed cycles : 7). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715958 ms (missed cycles : 7).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043024 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043024 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065283 ms (missed cycles : 7). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.065283 ms (missed cycles : 7).[0m ×2 + 9.92sWARNcontroller_managerOverrun might occur, Total time : 1942.107 us (Expected < 1666.667 us) --> Read time : 289.193 us, Update time : 487.342 us, Write time : 1165.572 us + 9.93sWARNros2_control_nodeOverrun might occur, Total time : 1942.107 us (Expected < 1666.667 us) --> Read time : 289.193 us, Update time : 487.342 us, Write time : 1165.572 us[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620097 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620097 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107777 ms (missed cycles : 5). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107777 ms (missed cycles : 5).[0m ×2 + 12.05sWARNcontroller_managerOverrun might occur, Total time : 2299.924 us (Expected < 1666.667 us) --> Read time : 1740.648 us, Update time : 154.927 us, Write time : 404.349 us + 12.05sWARNros2_control_nodeOverrun might occur, Total time : 2299.924 us (Expected < 1666.667 us) --> Read time : 1740.648 us, Update time : 154.927 us, Write time : 404.349 us[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793268 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793268 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun might occur, Total time : 1785.250 us (Expected < 1666.667 us) --> Read time : 306.663 us, Update time : 1000.786 us, Write time : 477.801 us + 13.29sWARNros2_control_nodeOverrun might occur, Total time : 1785.250 us (Expected < 1666.667 us) --> Read time : 306.663 us, Update time : 1000.786 us, Write time : 477.801 us[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929033 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929033 ms (missed cycles : 2).[0m ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605901 ms (missed cycles : 4). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605901 ms (missed cycles : 4).[0m ×2 + 15.21sWARNcontroller_managerOverrun might occur, Total time : 1686.497 us (Expected < 1666.667 us) --> Read time : 1179.984 us, Update time : 180.518 us, Write time : 325.995 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 1686.497 us (Expected < 1666.667 us) --> Read time : 1179.984 us, Update time : 180.518 us, Write time : 325.995 us[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328926 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328926 ms (missed cycles : 3).[0m ×2 + 16.40sWARNcontroller_managerOverrun might occur, Total time : 4503.213 us (Expected < 1666.667 us) --> Read time : 4042.632 us, Update time : 151.447 us, Write time : 309.134 us + 16.40sWARNros2_control_nodeOverrun might occur, Total time : 4503.213 us (Expected < 1666.667 us) --> Read time : 4042.632 us, Update time : 151.447 us, Write time : 309.134 us[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796324 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796324 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun might occur, Total time : 1927.767 us (Expected < 1666.667 us) --> Read time : 180.028 us, Update time : 1297.039 us, Write time : 450.700 us + 17.41sWARNros2_control_nodeOverrun might occur, Total time : 1927.767 us (Expected < 1666.667 us) --> Read time : 180.028 us, Update time : 1297.039 us, Write time : 450.700 us[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100613 ms (missed cycles : 7). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.100613 ms (missed cycles : 7).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176168 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176168 ms (missed cycles : 2).[0m ×2 + 19.40sWARNcontroller_managerOverrun might occur, Total time : 1871.734 us (Expected < 1666.667 us) --> Read time : 190.638 us, Update time : 1232.226 us, Write time : 448.870 us + 19.40sWARNros2_control_nodeOverrun might occur, Total time : 1871.734 us (Expected < 1666.667 us) --> Read time : 190.638 us, Update time : 1232.226 us, Write time : 448.870 us[0m ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512673 ms (missed cycles : 3). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512673 ms (missed cycles : 3).[0m ×2 + 20.67sWARNcontroller_managerOverrun might occur, Total time : 3532.970 us (Expected < 1666.667 us) --> Read time : 171.327 us, Update time : 2945.434 us, Write time : 416.209 us + 20.67sWARNros2_control_nodeOverrun might occur, Total time : 3532.970 us (Expected < 1666.667 us) --> Read time : 171.327 us, Update time : 2945.434 us, Write time : 416.209 us[0m ×2 + 21.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082449 ms (missed cycles : 3). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082449 ms (missed cycles : 3).[0m ×2 + 21.93sWARNcontroller_managerOverrun might occur, Total time : 2024.381 us (Expected < 1666.667 us) --> Read time : 291.893 us, Update time : 531.524 us, Write time : 1200.964 us + 21.93sWARNros2_control_nodeOverrun might occur, Total time : 2024.381 us (Expected < 1666.667 us) --> Read time : 291.893 us, Update time : 531.524 us, Write time : 1200.964 us[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282294 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282294 ms (missed cycles : 2).[0m ×2 + 23.11sWARNcontroller_managerOverrun might occur, Total time : 2139.077 us (Expected < 1666.667 us) --> Read time : 202.850 us, Update time : 179.618 us, Write time : 1756.609 us + 23.11sWARNros2_control_nodeOverrun might occur, Total time : 2139.077 us (Expected < 1666.667 us) --> Read time : 202.850 us, Update time : 179.618 us, Write time : 1756.609 us[0m ×2 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040084 ms (missed cycles : 3). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040084 ms (missed cycles : 3).[0m ×2 + 24.29sWARNcontroller_managerOverrun might occur, Total time : 3144.771 us (Expected < 1666.667 us) --> Read time : 126.815 us, Update time : 2694.432 us, Write time : 323.524 us + 24.30sWARNros2_control_nodeOverrun might occur, Total time : 3144.771 us (Expected < 1666.667 us) --> Read time : 126.815 us, Update time : 2694.432 us, Write time : 323.524 us[0m ×2 + 24.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116688 ms (missed cycles : 4). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.116688 ms (missed cycles : 4).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.796947 ms (missed cycles : 7). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.796947 ms (missed cycles : 7).[0m ×2 + 26.31sWARNcontroller_managerOverrun might occur, Total time : 1746.779 us (Expected < 1666.667 us) --> Read time : 154.647 us, Update time : 142.746 us, Write time : 1449.386 us + 26.31sWARNros2_control_nodeOverrun might occur, Total time : 1746.779 us (Expected < 1666.667 us) --> Read time : 154.647 us, Update time : 142.746 us, Write time : 1449.386 us[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410439 ms (missed cycles : 2). + 26.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410439 ms (missed cycles : 2).[0m ×2 + 27.32sWARNcontroller_managerOverrun might occur, Total time : 5675.157 us (Expected < 1666.667 us) --> Read time : 5109.842 us, Update time : 163.997 us, Write time : 401.318 us + 27.32sWARNros2_control_nodeOverrun might occur, Total time : 5675.157 us (Expected < 1666.667 us) --> Read time : 5109.842 us, Update time : 163.997 us, Write time : 401.318 us[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073204 ms (missed cycles : 2). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073204 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717200 ms (missed cycles : 3). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717200 ms (missed cycles : 3).[0m ×2 + 29.41sWARNcontroller_managerOverrun might occur, Total time : 5248.616 us (Expected < 1666.667 us) --> Read time : 154.697 us, Update time : 4706.462 us, Write time : 387.457 us + 29.41sWARNros2_control_nodeOverrun might occur, Total time : 5248.616 us (Expected < 1666.667 us) --> Read time : 154.697 us, Update time : 4706.462 us, Write time : 387.457 us[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954528 ms (missed cycles : 3). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954528 ms (missed cycles : 3).[0m ×2 + 30.57sWARNcontroller_managerOverrun might occur, Total time : 7462.947 us (Expected < 1666.667 us) --> Read time : 138.377 us, Update time : 6888.680 us, Write time : 435.890 us + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661454 ms (missed cycles : 5). + 30.57sWARNros2_control_nodeOverrun might occur, Total time : 7462.947 us (Expected < 1666.667 us) --> Read time : 138.377 us, Update time : 6888.680 us, Write time : 435.890 us[0m ×2 + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661454 ms (missed cycles : 5).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486939 ms (missed cycles : 6). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.486939 ms (missed cycles : 6).[0m ×2 + 32.47sWARNcontroller_managerOverrun might occur, Total time : 4118.576 us (Expected < 1666.667 us) --> Read time : 154.357 us, Update time : 87.964 us, Write time : 3876.255 us + 32.47sWARNros2_control_nodeOverrun might occur, Total time : 4118.576 us (Expected < 1666.667 us) --> Read time : 154.357 us, Update time : 87.964 us, Write time : 3876.255 us[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053285 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053285 ms (missed cycles : 2).[0m ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132962 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132962 ms (missed cycles : 2).[0m ×2 + 33.69sWARNcontroller_managerOverrun might occur, Total time : 1771.050 us (Expected < 1666.667 us) --> Read time : 710.332 us, Update time : 150.167 us, Write time : 910.551 us + 33.69sWARNros2_control_nodeOverrun might occur, Total time : 1771.050 us (Expected < 1666.667 us) --> Read time : 710.332 us, Update time : 150.167 us, Write time : 910.551 us[0m ×2 + 33.92sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.53sINFOobjective_server_nodePlanning for 56 path waypoints. ×3 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732230 ms (missed cycles : 2). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732230 ms (missed cycles : 2).[0m ×2 + 35.60sWARNcontroller_managerOverrun might occur, Total time : 7809.293 us (Expected < 1666.667 us) --> Read time : 167.808 us, Update time : 7249.847 us, Write time : 391.638 us + 35.60sWARNros2_control_nodeOverrun might occur, Total time : 7809.293 us (Expected < 1666.667 us) --> Read time : 167.808 us, Update time : 7249.847 us, Write time : 391.638 us[0m ×2 + 35.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144959 ms (missed cycles : 2). + 35.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144959 ms (missed cycles : 2).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852244 ms (missed cycles : 2). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852244 ms (missed cycles : 2).[0m ×2 + 36.82sWARNcontroller_managerOverrun might occur, Total time : 2620.478 us (Expected < 1666.667 us) --> Read time : 2134.606 us, Update time : 159.567 us, Write time : 326.305 us + 36.83sWARNros2_control_nodeOverrun might occur, Total time : 2620.478 us (Expected < 1666.667 us) --> Read time : 2134.606 us, Update time : 159.567 us, Write time : 326.305 us[0m ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275139 ms (missed cycles : 2). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275139 ms (missed cycles : 2).[0m ×2 + 38.24sWARNcontroller_managerOverrun might occur, Total time : 1815.321 us (Expected < 1666.667 us) --> Read time : 152.697 us, Update time : 1082.338 us, Write time : 580.286 us + 38.24sWARNros2_control_nodeOverrun might occur, Total time : 1815.321 us (Expected < 1666.667 us) --> Read time : 152.697 us, Update time : 1082.338 us, Write time : 580.286 us[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227585 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227585 ms (missed cycles : 2).[0m ×2 + 39.61sWARNcontroller_managerOverrun might occur, Total time : 5833.884 us (Expected < 1666.667 us) --> Read time : 439.690 us, Update time : 4886.641 us, Write time : 507.553 us + 39.62sWARNros2_control_nodeOverrun might occur, Total time : 5833.884 us (Expected < 1666.667 us) --> Read time : 439.690 us, Update time : 4886.641 us, Write time : 507.553 us[0m ×2 + 39.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300756 ms (missed cycles : 2). + 39.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.300756 ms (missed cycles : 2).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172004 ms (missed cycles : 2). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172004 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun might occur, Total time : 2243.041 us (Expected < 1666.667 us) --> Read time : 218.570 us, Update time : 173.548 us, Write time : 1850.923 us + 41.14sWARNros2_control_nodeOverrun might occur, Total time : 2243.041 us (Expected < 1666.667 us) --> Read time : 218.570 us, Update time : 173.548 us, Write time : 1850.923 us[0m ×2 + 42.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264655 ms (missed cycles : 2). + 42.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264655 ms (missed cycles : 2).[0m ×2 + 43.02sWARNcontroller_managerOverrun might occur, Total time : 5649.125 us (Expected < 1666.667 us) --> Read time : 5088.369 us, Update time : 174.318 us, Write time : 386.438 us + 43.02sWARNros2_control_nodeOverrun might occur, Total time : 5649.125 us (Expected < 1666.667 us) --> Read time : 5088.369 us, Update time : 174.318 us, Write time : 386.438 us[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272260 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272260 ms (missed cycles : 2).[0m ×2 + 43.38sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822570 ms (missed cycles : 4). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822570 ms (missed cycles : 4).[0m ×2 + 44.15sWARNcontroller_managerOverrun might occur, Total time : 1736.449 us (Expected < 1666.667 us) --> Read time : 143.557 us, Update time : 408.958 us, Write time : 1183.934 us + 44.15sWARNros2_control_nodeOverrun might occur, Total time : 1736.449 us (Expected < 1666.667 us) --> Read time : 143.557 us, Update time : 408.958 us, Write time : 1183.934 us[0m ×2 + 45.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461937 ms (missed cycles : 2). + 45.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461937 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun might occur, Total time : 2044.003 us (Expected < 1666.667 us) --> Read time : 205.760 us, Update time : 1341.500 us, Write time : 496.743 us + 45.81sWARNros2_control_nodeOverrun might occur, Total time : 2044.003 us (Expected < 1666.667 us) --> Read time : 205.760 us, Update time : 1341.500 us, Write time : 496.743 us[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989916 ms (missed cycles : 3). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989916 ms (missed cycles : 3).[0m ×2 + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038349 ms (missed cycles : 3). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038349 ms (missed cycles : 3).[0m ×2 + 47.62sWARNcontroller_managerOverrun might occur, Total time : 2251.362 us (Expected < 1666.667 us) --> Read time : 155.427 us, Update time : 1757.050 us, Write time : 338.885 us + 47.62sWARNros2_control_nodeOverrun might occur, Total time : 2251.362 us (Expected < 1666.667 us) --> Read time : 155.427 us, Update time : 1757.050 us, Write time : 338.885 us[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894369 ms (missed cycles : 4).[0m ×2 + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525110 ms (missed cycles : 3). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525110 ms (missed cycles : 3).[0m ×2 + 49.70sWARNcontroller_managerOverrun might occur, Total time : 1836.683 us (Expected < 1666.667 us) --> Read time : 143.077 us, Update time : 1176.073 us, Write time : 517.533 us + 49.70sWARNros2_control_nodeOverrun might occur, Total time : 1836.683 us (Expected < 1666.667 us) --> Read time : 143.077 us, Update time : 1176.073 us, Write time : 517.533 us[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674189 ms (missed cycles : 2). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674189 ms (missed cycles : 2).[0m ×2 + 50.83sWARNcontroller_managerOverrun might occur, Total time : 1950.428 us (Expected < 1666.667 us) --> Read time : 194.819 us, Update time : 1306.129 us, Write time : 449.480 us + 50.83sWARNros2_control_nodeOverrun might occur, Total time : 1950.428 us (Expected < 1666.667 us) --> Read time : 194.819 us, Update time : 1306.129 us, Write time : 449.480 us[0m ×2 + 51.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371052 ms (missed cycles : 3). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371052 ms (missed cycles : 3).[0m ×2 + 52.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432755 ms (missed cycles : 5). + 52.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432755 ms (missed cycles : 5).[0m ×2 + 52.44sWARNcontroller_managerOverrun might occur, Total time : 1931.987 us (Expected < 1666.667 us) --> Read time : 147.627 us, Update time : 1468.636 us, Write time : 315.724 us + 52.45sWARNros2_control_nodeOverrun might occur, Total time : 1931.987 us (Expected < 1666.667 us) --> Read time : 147.627 us, Update time : 1468.636 us, Write time : 315.724 us[0m ×2 + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709166 ms (missed cycles : 5). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709166 ms (missed cycles : 5).[0m ×2 + 53.69sWARNcontroller_managerOverrun might occur, Total time : 3438.466 us (Expected < 1666.667 us) --> Read time : 152.107 us, Update time : 141.367 us, Write time : 3144.992 us + 53.69sWARNros2_control_nodeOverrun might occur, Total time : 3438.466 us (Expected < 1666.667 us) --> Read time : 152.107 us, Update time : 141.367 us, Write time : 3144.992 us[0m ×2 + 54.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145140 ms (missed cycles : 6). + 54.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145140 ms (missed cycles : 6).[0m ×2 + 55.17sWARNcontroller_managerOverrun might occur, Total time : 2266.252 us (Expected < 1666.667 us) --> Read time : 137.996 us, Update time : 122.156 us, Write time : 2006.100 us + 55.17sWARNros2_control_nodeOverrun might occur, Total time : 2266.252 us (Expected < 1666.667 us) --> Read time : 137.996 us, Update time : 122.156 us, Write time : 2006.100 us[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438448 ms (missed cycles : 3). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438448 ms (missed cycles : 3).[0m ×2 + 56.48sWARNcontroller_managerOverrun might occur, Total time : 4652.360 us (Expected < 1666.667 us) --> Read time : 164.747 us, Update time : 110.505 us, Write time : 4377.108 us + 56.49sWARNros2_control_nodeOverrun might occur, Total time : 4652.360 us (Expected < 1666.667 us) --> Read time : 164.747 us, Update time : 110.505 us, Write time : 4377.108 us[0m ×2 + 56.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381375 ms (missed cycles : 6). + 56.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381375 ms (missed cycles : 6).[0m ×2 + 57.62sWARNcontroller_managerOverrun might occur, Total time : 3244.907 us (Expected < 1666.667 us) --> Read time : 190.349 us, Update time : 160.387 us, Write time : 2894.171 us + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931126 ms (missed cycles : 3). + 57.62sWARNros2_control_nodeOverrun might occur, Total time : 3244.907 us (Expected < 1666.667 us) --> Read time : 190.349 us, Update time : 160.387 us, Write time : 2894.171 us[0m ×2 + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931126 ms (missed cycles : 3).[0m ×2 + 58.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781192132.14101124 seconds ×3 + 58.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737101 ms (missed cycles : 2). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737101 ms (missed cycles : 2).[0m ×2 + 58.65sWARNcontroller_managerOverrun might occur, Total time : 3106.991 us (Expected < 1666.667 us) --> Read time : 154.797 us, Update time : 669.550 us, Write time : 2282.644 us + 58.65sWARNros2_control_nodeOverrun might occur, Total time : 3106.991 us (Expected < 1666.667 us) --> Read time : 154.797 us, Update time : 669.550 us, Write time : 2282.644 us[0m ×2 + 58.91sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781192132.68950820 seconds. ×3 + 59.27sINFOobjective_server_nodeFound path in 0 iterations (1.31e-06 s). ×2 + 59.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552236 ms (missed cycles : 3). + 59.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552236 ms (missed cycles : 3).[0m ×2 + 60.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922147 ms (missed cycles : 4). + 60.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922147 ms (missed cycles : 4).[0m ×2 + 61.07sWARNcontroller_managerOverrun might occur, Total time : 3853.764 us (Expected < 1666.667 us) --> Read time : 136.436 us, Update time : 3291.729 us, Write time : 425.599 us + 61.07sWARNros2_control_nodeOverrun might occur, Total time : 3853.764 us (Expected < 1666.667 us) --> Read time : 136.436 us, Update time : 3291.729 us, Write time : 425.599 us[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.9s | 261 warnings · 227 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.26sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.26sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.26sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.26sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.27sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.27sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.31sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 0.32sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.32sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 0.69sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.70sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.71sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.73sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.73sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.73sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.73sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.74sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.74sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.75sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.81sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 0.81sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.22sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.22sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.22sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.22sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.22sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 1.29sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.30sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.30sINFOplatform_velocity_controller_nav2configure successful + 1.30sINFOros2_control_nodeconfigure successful[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.09sINFOmove_groupClearing octomap...[0m ×2 + 2.09sINFOmove_groupOctomap cleared.[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 3.94sINFOobjective_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 + 3.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.97sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 3.97sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.97sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 4.28sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 4.46sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 5.53sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371717 ms (missed cycles : 5). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371717 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379603 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379603 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun might occur, Total time : 1947.940 us (Expected < 1666.667 us) --> Read time : 709.303 us, Update time : 799.107 us, Write time : 439.530 us + 8.81sWARNros2_control_nodeOverrun might occur, Total time : 1947.940 us (Expected < 1666.667 us) --> Read time : 709.303 us, Update time : 799.107 us, Write time : 439.530 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988092 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988092 ms (missed cycles : 3).[0m ×2 + 9.90sWARNcontroller_managerOverrun might occur, Total time : 1960.571 us (Expected < 1666.667 us) --> Read time : 130.726 us, Update time : 1477.709 us, Write time : 352.136 us + 9.90sWARNros2_control_nodeOverrun might occur, Total time : 1960.571 us (Expected < 1666.667 us) --> Read time : 130.726 us, Update time : 1477.709 us, Write time : 352.136 us[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759302 ms (missed cycles : 4). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759302 ms (missed cycles : 4).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602911 ms (missed cycles : 6). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602911 ms (missed cycles : 6).[0m ×2 + 11.80sWARNcontroller_managerOverrun might occur, Total time : 2560.158 us (Expected < 1666.667 us) --> Read time : 156.877 us, Update time : 2088.576 us, Write time : 314.705 us + 11.80sWARNros2_control_nodeOverrun might occur, Total time : 2560.158 us (Expected < 1666.667 us) --> Read time : 156.877 us, Update time : 2088.576 us, Write time : 314.705 us[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779617 ms (missed cycles : 4). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779617 ms (missed cycles : 4).[0m ×2 + 13.22sWARNcontroller_managerOverrun might occur, Total time : 2001.891 us (Expected < 1666.667 us) --> Read time : 139.416 us, Update time : 1375.953 us, Write time : 486.522 us + 13.22sWARNros2_control_nodeOverrun might occur, Total time : 2001.891 us (Expected < 1666.667 us) --> Read time : 139.416 us, Update time : 1375.953 us, Write time : 486.522 us[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759666 ms (missed cycles : 5). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759666 ms (missed cycles : 5).[0m ×2 + 14.31sWARNcontroller_managerOverrun might occur, Total time : 3176.256 us (Expected < 1666.667 us) --> Read time : 151.897 us, Update time : 188.828 us, Write time : 2835.531 us + 14.31sWARNros2_control_nodeOverrun might occur, Total time : 3176.256 us (Expected < 1666.667 us) --> Read time : 151.897 us, Update time : 188.828 us, Write time : 2835.531 us[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152288 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152288 ms (missed cycles : 3).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881806 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881806 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun might occur, Total time : 2131.469 us (Expected < 1666.667 us) --> Read time : 1648.496 us, Update time : 169.398 us, Write time : 313.575 us + 15.75sWARNros2_control_nodeOverrun might occur, Total time : 2131.469 us (Expected < 1666.667 us) --> Read time : 1648.496 us, Update time : 169.398 us, Write time : 313.575 us[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001115 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001115 ms (missed cycles : 2).[0m ×2 + 16.89sWARNcontroller_managerOverrun might occur, Total time : 2546.268 us (Expected < 1666.667 us) --> Read time : 156.427 us, Update time : 1966.101 us, Write time : 423.740 us + 16.89sWARNros2_control_nodeOverrun might occur, Total time : 2546.268 us (Expected < 1666.667 us) --> Read time : 156.427 us, Update time : 1966.101 us, Write time : 423.740 us[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294114 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294114 ms (missed cycles : 2).[0m ×2 + 18.46sWARNcontroller_managerOverrun might occur, Total time : 4358.521 us (Expected < 1666.667 us) --> Read time : 174.308 us, Update time : 3729.032 us, Write time : 455.181 us + 18.46sWARNros2_control_nodeOverrun might occur, Total time : 4358.521 us (Expected < 1666.667 us) --> Read time : 174.308 us, Update time : 3729.032 us, Write time : 455.181 us[0m ×2 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677443 ms (missed cycles : 5). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.677443 ms (missed cycles : 5).[0m ×2 + 19.48sWARNcontroller_managerOverrun might occur, Total time : 2458.924 us (Expected < 1666.667 us) --> Read time : 148.157 us, Update time : 1899.668 us, Write time : 411.099 us + 19.48sWARNros2_control_nodeOverrun might occur, Total time : 2458.924 us (Expected < 1666.667 us) --> Read time : 148.157 us, Update time : 1899.668 us, Write time : 411.099 us[0m ×2 + 19.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316380 ms (missed cycles : 2). + 19.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316380 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun might occur, Total time : 1688.808 us (Expected < 1666.667 us) --> Read time : 417.519 us, Update time : 840.669 us, Write time : 430.620 us + 20.75sWARNros2_control_nodeOverrun might occur, Total time : 1688.808 us (Expected < 1666.667 us) --> Read time : 417.519 us, Update time : 840.669 us, Write time : 430.620 us[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622927 ms (missed cycles : 5). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622927 ms (missed cycles : 5).[0m ×2 + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344058 ms (missed cycles : 5). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.344058 ms (missed cycles : 5).[0m ×2 + 22.55sWARNcontroller_managerOverrun might occur, Total time : 2628.721 us (Expected < 1666.667 us) --> Read time : 249.711 us, Update time : 2012.793 us, Write time : 366.217 us + 22.55sWARNros2_control_nodeOverrun might occur, Total time : 2628.721 us (Expected < 1666.667 us) --> Read time : 249.711 us, Update time : 2012.793 us, Write time : 366.217 us[0m ×2 + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135577 ms (missed cycles : 3). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135577 ms (missed cycles : 3).[0m ×2 + 23.86sWARNcontroller_managerOverrun might occur, Total time : 2141.239 us (Expected < 1666.667 us) --> Read time : 157.547 us, Update time : 1642.176 us, Write time : 341.516 us + 23.86sWARNros2_control_nodeOverrun might occur, Total time : 2141.239 us (Expected < 1666.667 us) --> Read time : 157.547 us, Update time : 1642.176 us, Write time : 341.516 us[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091518 ms (missed cycles : 2). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091518 ms (missed cycles : 2).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051348 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051348 ms (missed cycles : 3).[0m ×2 + 26.08sWARNcontroller_managerOverrun might occur, Total time : 2026.374 us (Expected < 1666.667 us) --> Read time : 185.219 us, Update time : 1473.738 us, Write time : 367.417 us + 26.08sWARNros2_control_nodeOverrun might occur, Total time : 2026.374 us (Expected < 1666.667 us) --> Read time : 185.219 us, Update time : 1473.738 us, Write time : 367.417 us[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446784 ms (missed cycles : 5). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446784 ms (missed cycles : 5).[0m ×2 + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746566 ms (missed cycles : 2). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.746566 ms (missed cycles : 2).[0m ×2 + 27.56sWARNcontroller_managerOverrun might occur, Total time : 2005.092 us (Expected < 1666.667 us) --> Read time : 1540.801 us, Update time : 127.156 us, Write time : 337.135 us + 27.56sWARNros2_control_nodeOverrun might occur, Total time : 2005.092 us (Expected < 1666.667 us) --> Read time : 1540.801 us, Update time : 127.156 us, Write time : 337.135 us[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180698 ms (missed cycles : 6). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.180698 ms (missed cycles : 6).[0m ×2 + 29.16sWARNcontroller_managerOverrun might occur, Total time : 2585.630 us (Expected < 1666.667 us) --> Read time : 156.098 us, Update time : 571.276 us, Write time : 1858.256 us + 29.17sWARNros2_control_nodeOverrun might occur, Total time : 2585.630 us (Expected < 1666.667 us) --> Read time : 156.098 us, Update time : 571.276 us, Write time : 1858.256 us[0m ×2 + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158223 ms (missed cycles : 2). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158223 ms (missed cycles : 2).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.719357 ms (missed cycles : 7). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.719357 ms (missed cycles : 7).[0m ×2 + 31.08sWARNcontroller_managerOverrun might occur, Total time : 6712.700 us (Expected < 1666.667 us) --> Read time : 161.298 us, Update time : 6222.917 us, Write time : 328.485 us + 31.08sWARNros2_control_nodeOverrun might occur, Total time : 6712.700 us (Expected < 1666.667 us) --> Read time : 161.298 us, Update time : 6222.917 us, Write time : 328.485 us[0m ×2 + 31.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634474 ms (missed cycles : 4). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634474 ms (missed cycles : 4).[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764855 ms (missed cycles : 2). + 32.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764855 ms (missed cycles : 2).[0m ×2 + 32.68sWARNcontroller_managerOverrun might occur, Total time : 2458.412 us (Expected < 1666.667 us) --> Read time : 222.660 us, Update time : 1883.196 us, Write time : 352.556 us + 32.68sWARNros2_control_nodeOverrun might occur, Total time : 2458.412 us (Expected < 1666.667 us) --> Read time : 222.660 us, Update time : 1883.196 us, Write time : 352.556 us[0m ×2 + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932895 ms (missed cycles : 2). + 33.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932895 ms (missed cycles : 2).[0m ×2 + 33.83sWARNcontroller_managerOverrun might occur, Total time : 2859.529 us (Expected < 1666.667 us) --> Read time : 151.007 us, Update time : 2306.024 us, Write time : 402.498 us + 33.83sWARNros2_control_nodeOverrun might occur, Total time : 2859.529 us (Expected < 1666.667 us) --> Read time : 151.007 us, Update time : 2306.024 us, Write time : 402.498 us[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060010 ms (missed cycles : 3). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060010 ms (missed cycles : 3).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.856768 ms (missed cycles : 7). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.856768 ms (missed cycles : 7).[0m ×2 + 36.12sWARNcontroller_managerOverrun might occur, Total time : 1822.872 us (Expected < 1666.667 us) --> Read time : 159.957 us, Update time : 1356.392 us, Write time : 306.523 us + 36.12sWARNros2_control_nodeOverrun might occur, Total time : 1822.872 us (Expected < 1666.667 us) --> Read time : 159.957 us, Update time : 1356.392 us, Write time : 306.523 us[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068496 ms (missed cycles : 2). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068496 ms (missed cycles : 2).[0m ×2 + 37.52sWARNcontroller_managerOverrun might occur, Total time : 4799.736 us (Expected < 1666.667 us) --> Read time : 150.166 us, Update time : 4155.288 us, Write time : 494.282 us + 37.52sWARNros2_control_nodeOverrun might occur, Total time : 4799.736 us (Expected < 1666.667 us) --> Read time : 150.166 us, Update time : 4155.288 us, Write time : 494.282 us[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189347 ms (missed cycles : 3). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189347 ms (missed cycles : 3).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924043 ms (missed cycles : 4). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924043 ms (missed cycles : 4).[0m ×2 + 39.57sWARNcontroller_managerOverrun might occur, Total time : 1792.700 us (Expected < 1666.667 us) --> Read time : 201.769 us, Update time : 1270.047 us, Write time : 320.884 us + 39.58sWARNros2_control_nodeOverrun might occur, Total time : 1792.700 us (Expected < 1666.667 us) --> Read time : 201.769 us, Update time : 1270.047 us, Write time : 320.884 us[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577266 ms (missed cycles : 4). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577266 ms (missed cycles : 4).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864207 ms (missed cycles : 2). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864207 ms (missed cycles : 2).[0m ×2 + 41.12sWARNcontroller_managerOverrun might occur, Total time : 2883.381 us (Expected < 1666.667 us) --> Read time : 145.006 us, Update time : 2406.990 us, Write time : 331.385 us + 41.12sWARNros2_control_nodeOverrun might occur, Total time : 2883.381 us (Expected < 1666.667 us) --> Read time : 145.006 us, Update time : 2406.990 us, Write time : 331.385 us[0m ×2 + 42.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180397 ms (missed cycles : 4). + 42.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180397 ms (missed cycles : 4).[0m ×2 + 42.87sWARNcontroller_managerOverrun might occur, Total time : 2221.781 us (Expected < 1666.667 us) --> Read time : 155.027 us, Update time : 1677.986 us, Write time : 388.768 us + 42.87sWARNros2_control_nodeOverrun might occur, Total time : 2221.781 us (Expected < 1666.667 us) --> Read time : 155.027 us, Update time : 1677.986 us, Write time : 388.768 us[0m ×2 + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484603 ms (missed cycles : 2). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484603 ms (missed cycles : 2).[0m ×2 + 44.00sWARNcontroller_managerOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us + 44.00sWARNros2_control_nodeOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us[0m ×2 + 44.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2). + 44.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2).[0m ×2 + 45.04sWARNcontroller_managerOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us + 45.04sWARNros2_control_nodeOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us[0m ×2 + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3).[0m ×2 + 46.23sWARNcontroller_managerOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us + 46.23sWARNros2_control_nodeOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us[0m ×2 + 47.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6). + 47.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6).[0m ×2 + 47.50sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 47.51sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 47.84sINFOjoint_trajectory_controllerGoal reached, success! + 47.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 48.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 48.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 48.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 48.61sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 48.61sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 49.39sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 49.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 49.83sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 49.84sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 50.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 183 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 0.17sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 0.17sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[0m ×2 + 1.60sWARNcontroller_managerOverrun might occur, Total time : 6840.789 us (Expected < 1666.667 us) --> Read time : 175.288 us, Update time : 199.899 us, Write time : 6465.602 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 6840.789 us (Expected < 1666.667 us) --> Read time : 175.288 us, Update time : 199.899 us, Write time : 6465.602 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264040 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264040 ms (missed cycles : 5).[0m ×2 + 2.65sWARNcontroller_managerOverrun might occur, Total time : 2506.913 us (Expected < 1666.667 us) --> Read time : 150.566 us, Update time : 1963.269 us, Write time : 393.078 us + 2.65sWARNros2_control_nodeOverrun might occur, Total time : 2506.913 us (Expected < 1666.667 us) --> Read time : 150.566 us, Update time : 1963.269 us, Write time : 393.078 us[0m ×2 + 3.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781192046.02124572 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123324 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123324 ms (missed cycles : 3).[0m ×2 + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979409 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979409 ms (missed cycles : 2).[0m ×2 + 4.55sWARNcontroller_managerOverrun might occur, Total time : 2927.073 us (Expected < 1666.667 us) --> Read time : 2486.623 us, Update time : 138.357 us, Write time : 302.093 us + 4.55sWARNros2_control_nodeOverrun might occur, Total time : 2927.073 us (Expected < 1666.667 us) --> Read time : 2486.623 us, Update time : 138.357 us, Write time : 302.093 us[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781192047.57131505 seconds. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582522 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582522 ms (missed cycles : 3).[0m ×2 + 5.68sWARNcontroller_managerOverrun might occur, Total time : 1985.530 us (Expected < 1666.667 us) --> Read time : 1407.084 us, Update time : 143.506 us, Write time : 434.940 us + 5.68sWARNros2_control_nodeOverrun might occur, Total time : 1985.530 us (Expected < 1666.667 us) --> Read time : 1407.084 us, Update time : 143.506 us, Write time : 434.940 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.878654 ms (missed cycles : 8). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.878654 ms (missed cycles : 8).[0m ×2 + 6.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.49sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.49sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.49sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.07sWARNcontroller_managerOverrun might occur, Total time : 4075.994 us (Expected < 1666.667 us) --> Read time : 271.122 us, Update time : 3388.244 us, Write time : 416.628 us + 7.07sWARNros2_control_nodeOverrun might occur, Total time : 4075.994 us (Expected < 1666.667 us) --> Read time : 271.122 us, Update time : 3388.244 us, Write time : 416.628 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284652 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284652 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757185 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757185 ms (missed cycles : 2).[0m ×2 + 9.10sWARNcontroller_managerOverrun might occur, Total time : 2515.674 us (Expected < 1666.667 us) --> Read time : 151.667 us, Update time : 1971.929 us, Write time : 392.078 us + 9.10sWARNros2_control_nodeOverrun might occur, Total time : 2515.674 us (Expected < 1666.667 us) --> Read time : 151.667 us, Update time : 1971.929 us, Write time : 392.078 us[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240375 ms (missed cycles : 3). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240375 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747139 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747139 ms (missed cycles : 2).[0m ×2 + 11.02sWARNcontroller_managerOverrun might occur, Total time : 2297.744 us (Expected < 1666.667 us) --> Read time : 134.536 us, Update time : 1804.172 us, Write time : 359.036 us + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 2297.744 us (Expected < 1666.667 us) --> Read time : 134.536 us, Update time : 1804.172 us, Write time : 359.036 us[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127519 ms (missed cycles : 7). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.127519 ms (missed cycles : 7).[0m ×2 + 12.22sWARNcontroller_managerOverrun might occur, Total time : 2049.453 us (Expected < 1666.667 us) --> Read time : 168.307 us, Update time : 144.897 us, Write time : 1736.249 us + 12.22sWARNros2_control_nodeOverrun might occur, Total time : 2049.453 us (Expected < 1666.667 us) --> Read time : 168.307 us, Update time : 144.897 us, Write time : 1736.249 us[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988386 ms (missed cycles : 4). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.988386 ms (missed cycles : 4).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873639 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873639 ms (missed cycles : 4).[0m ×2 + 13.80sWARNcontroller_managerOverrun might occur, Total time : 1978.579 us (Expected < 1666.667 us) --> Read time : 147.086 us, Update time : 196.279 us, Write time : 1635.214 us + 13.80sWARNros2_control_nodeOverrun might occur, Total time : 1978.579 us (Expected < 1666.667 us) --> Read time : 147.086 us, Update time : 196.279 us, Write time : 1635.214 us[0m ×2 + 14.21sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421242 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421242 ms (missed cycles : 3).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702271 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702271 ms (missed cycles : 2).[0m ×2 + 15.73sWARNcontroller_managerOverrun might occur, Total time : 2453.120 us (Expected < 1666.667 us) --> Read time : 140.026 us, Update time : 78.553 us, Write time : 2234.541 us + 15.73sWARNros2_control_nodeOverrun might occur, Total time : 2453.120 us (Expected < 1666.667 us) --> Read time : 140.026 us, Update time : 78.553 us, Write time : 2234.541 us[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268668 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268668 ms (missed cycles : 2).[0m ×2 + 17.72sWARNcontroller_managerOverrun might occur, Total time : 2718.673 us (Expected < 1666.667 us) --> Read time : 192.219 us, Update time : 2173.378 us, Write time : 353.076 us + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147613 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun might occur, Total time : 2718.673 us (Expected < 1666.667 us) --> Read time : 192.219 us, Update time : 2173.378 us, Write time : 353.076 us[0m ×2 + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147613 ms (missed cycles : 2).[0m ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637082 ms (missed cycles : 3). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637082 ms (missed cycles : 3).[0m ×2 + 19.28sWARNcontroller_managerOverrun might occur, Total time : 2529.254 us (Expected < 1666.667 us) --> Read time : 164.217 us, Update time : 274.173 us, Write time : 2090.864 us + 19.28sWARNros2_control_nodeOverrun might occur, Total time : 2529.254 us (Expected < 1666.667 us) --> Read time : 164.217 us, Update time : 274.173 us, Write time : 2090.864 us[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491943 ms (missed cycles : 4). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491943 ms (missed cycles : 4).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751417 ms (missed cycles : 5). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751417 ms (missed cycles : 5).[0m ×2 + 21.32sWARNcontroller_managerOverrun might occur, Total time : 1846.183 us (Expected < 1666.667 us) --> Read time : 152.967 us, Update time : 1221.035 us, Write time : 472.181 us + 21.32sWARNros2_control_nodeOverrun might occur, Total time : 1846.183 us (Expected < 1666.667 us) --> Read time : 152.967 us, Update time : 1221.035 us, Write time : 472.181 us[0m ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.113483 ms (missed cycles : 7). + 21.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.113483 ms (missed cycles : 7).[0m ×2 + 22.85sWARNcontroller_managerOverrun might occur, Total time : 1673.576 us (Expected < 1666.667 us) --> Read time : 160.777 us, Update time : 1129.261 us, Write time : 383.538 us + 22.85sWARNros2_control_nodeOverrun might occur, Total time : 1673.576 us (Expected < 1666.667 us) --> Read time : 160.777 us, Update time : 1129.261 us, Write time : 383.538 us[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358929 ms (missed cycles : 3). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358929 ms (missed cycles : 3).[0m ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046626 ms (missed cycles : 4). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046626 ms (missed cycles : 4).[0m ×2 + 24.90sWARNcontroller_managerOverrun might occur, Total time : 2114.856 us (Expected < 1666.667 us) --> Read time : 162.408 us, Update time : 1128.691 us, Write time : 823.757 us + 24.90sWARNros2_control_nodeOverrun might occur, Total time : 2114.856 us (Expected < 1666.667 us) --> Read time : 162.408 us, Update time : 1128.691 us, Write time : 823.757 us[0m ×2 + 25.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210643 ms (missed cycles : 2). + 25.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210643 ms (missed cycles : 2).[0m ×2 + 26.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.119098 ms (missed cycles : 6). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.119098 ms (missed cycles : 6).[0m ×2 + 26.77sWARNcontroller_managerOverrun might occur, Total time : 2052.502 us (Expected < 1666.667 us) --> Read time : 143.506 us, Update time : 185.049 us, Write time : 1723.947 us + 26.77sWARNros2_control_nodeOverrun might occur, Total time : 2052.502 us (Expected < 1666.667 us) --> Read time : 143.506 us, Update time : 185.049 us, Write time : 1723.947 us[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957072 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957072 ms (missed cycles : 3).[0m ×2 + 27.84sWARNcontroller_managerOverrun might occur, Total time : 4070.223 us (Expected < 1666.667 us) --> Read time : 435.699 us, Update time : 3211.405 us, Write time : 423.119 us + 27.84sWARNros2_control_nodeOverrun might occur, Total time : 4070.223 us (Expected < 1666.667 us) --> Read time : 435.699 us, Update time : 3211.405 us, Write time : 423.119 us[0m ×2 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082777 ms (missed cycles : 2). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082777 ms (missed cycles : 2).[0m ×2 + 28.85sWARNcontroller_managerOverrun might occur, Total time : 3373.512 us (Expected < 1666.667 us) --> Read time : 830.247 us, Update time : 2160.628 us, Write time : 382.637 us + 28.86sWARNros2_control_nodeOverrun might occur, Total time : 3373.512 us (Expected < 1666.667 us) --> Read time : 830.247 us, Update time : 2160.628 us, Write time : 382.637 us[0m ×2 + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 29.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527121 ms (missed cycles : 3). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527121 ms (missed cycles : 3).[0m ×2 + 30.83sWARNcontroller_managerOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us + 30.83sWARNros2_control_nodeOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us[0m ×2 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4). + 31.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4).[0m ×2 + 32.04sWARNcontroller_managerOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us + 32.04sWARNros2_control_nodeOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us[0m ×2 + 32.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3). + 32.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4).[0m ×2 + 33.86sWARNcontroller_managerOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us + 33.87sWARNros2_control_nodeOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us[0m ×2 + 34.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2).[0m ×2 + 34.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.86674976 seconds ×3 + 35.08sWARNcontroller_managerOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us + 35.08sWARNros2_control_nodeOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4).[0m ×2 + 35.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.42086339 seconds. ×3 + 35.82sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4).[0m ×2 + 37.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.13sWARNcontroller_managerOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us + 37.13sWARNros2_control_nodeOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 99 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558753 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.558753 ms (missed cycles : 5).[0m ×2 + 0.11sWARNcontroller_managerOverrun might occur, Total time : 2520.574 us (Expected < 1666.667 us) --> Read time : 162.048 us, Update time : 2069.073 us, Write time : 289.453 us + 0.12sWARNros2_control_nodeOverrun might occur, Total time : 2520.574 us (Expected < 1666.667 us) --> Read time : 162.048 us, Update time : 2069.073 us, Write time : 289.453 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187900 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187900 ms (missed cycles : 3).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 4013.432 us (Expected < 1666.667 us) --> Read time : 134.286 us, Update time : 3529.460 us, Write time : 349.686 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 4013.432 us (Expected < 1666.667 us) --> Read time : 134.286 us, Update time : 3529.460 us, Write time : 349.686 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493350 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.493350 ms (missed cycles : 5).[0m ×2 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 3882.616 us (Expected < 1666.667 us) --> Read time : 132.376 us, Update time : 3259.318 us, Write time : 490.922 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 3882.616 us (Expected < 1666.667 us) --> Read time : 132.376 us, Update time : 3259.318 us, Write time : 490.922 us[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216915 ms (missed cycles : 5). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216915 ms (missed cycles : 5).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 1959.279 us (Expected < 1666.667 us) --> Read time : 193.399 us, Update time : 194.498 us, Write time : 1571.382 us + 3.50sWARNros2_control_nodeOverrun might occur, Total time : 1959.279 us (Expected < 1666.667 us) --> Read time : 193.399 us, Update time : 194.498 us, Write time : 1571.382 us[0m ×2 + 4.02sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.02sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781192272.02756906 seconds ×3 + 4.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221523 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221523 ms (missed cycles : 5).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781192272.57984662 seconds. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 7275.019 us (Expected < 1666.667 us) --> Read time : 161.237 us, Update time : 6604.279 us, Write time : 509.503 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 7275.019 us (Expected < 1666.667 us) --> Read time : 161.237 us, Update time : 6604.279 us, Write time : 509.503 us[0m ×2 + 4.94sINFOobjective_server_nodeFound path in 0 iterations (8.8e-07 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508437 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508437 ms (missed cycles : 3).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529218 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529218 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 3560.311 us (Expected < 1666.667 us) --> Read time : 181.638 us, Update time : 155.417 us, Write time : 3223.256 us + 6.66sWARNros2_control_nodeOverrun might occur, Total time : 3560.311 us (Expected < 1666.667 us) --> Read time : 181.638 us, Update time : 155.417 us, Write time : 3223.256 us[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960294 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960294 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun might occur, Total time : 3988.470 us (Expected < 1666.667 us) --> Read time : 3418.574 us, Update time : 151.917 us, Write time : 417.979 us + 8.37sWARNros2_control_nodeOverrun might occur, Total time : 3988.470 us (Expected < 1666.667 us) --> Read time : 3418.574 us, Update time : 151.917 us, Write time : 417.979 us[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826326 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826326 ms (missed cycles : 4).[0m ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (8.3e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (1.12e-06 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.35sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297872 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297872 ms (missed cycles : 2).[0m ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.53sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.62sWARNcontroller_managerOverrun might occur, Total time : 2613.469 us (Expected < 1666.667 us) --> Read time : 157.237 us, Update time : 188.399 us, Write time : 2267.833 us + 9.62sWARNros2_control_nodeOverrun might occur, Total time : 2613.469 us (Expected < 1666.667 us) --> Read time : 157.237 us, Update time : 188.399 us, Write time : 2267.833 us[0m ×2 + 9.76sINFOobjective_server_nodeFound path in 69 iterations (0.047301 s). ×2 + 9.98sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604969 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.604969 ms (missed cycles : 2).[0m ×2 + 10.77sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.48sWARNcontroller_managerOverrun might occur, Total time : 6970.895 us (Expected < 1666.667 us) --> Read time : 144.546 us, Update time : 6458.163 us, Write time : 368.186 us + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168685 ms (missed cycles : 5). + 11.48sWARNros2_control_nodeOverrun might occur, Total time : 6970.895 us (Expected < 1666.667 us) --> Read time : 144.546 us, Update time : 6458.163 us, Write time : 368.186 us[0m ×2 + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.168685 ms (missed cycles : 5).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061653 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061653 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us + 13.14sWARNros2_control_nodeOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3).[0m ×2 + 14.35sWARNcontroller_managerOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us + 14.36sWARNros2_control_nodeOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us[0m ×2 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4).[0m ×2 + 16.49sWARNcontroller_managerOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us + 16.50sWARNros2_control_nodeOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us[0m ×2 + 16.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192284.78856945 seconds ×3 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2).[0m ×2 + 17.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192285.37366438 seconds. ×3 + 17.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.40sINFOmove_groupClearing octomap...[0m ×2 + 17.40sINFOmove_groupOctomap cleared.[0m ×2 + 17.77sWARNcontroller_managerOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us + 17.77sWARNros2_control_nodeOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us[0m ×2 + 17.87sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192285.85381293 seconds ×3 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192286.40115237 seconds. ×3 + 18.85sWARNcontroller_managerOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us + 18.85sWARNros2_control_nodeOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us[0m ×2 + 18.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192286.87129593 seconds ×3 + 19.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2). + 19.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2).[0m ×2 + 19.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 76 errors · 54 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us[0m ×2 + 2.41sINFOjoint_trajectory_controllerGoal reached, success! + 2.41sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192284.78856945 seconds ×3 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192285.37366438 seconds. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.05sINFOmove_groupClearing octomap...[0m ×2 + 3.05sINFOmove_groupOctomap cleared.[0m ×2 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192285.85381293 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192286.40115237 seconds. ×3 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192286.87129593 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2).[0m ×2 + 4.76sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727399 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727399 ms (missed cycles : 2).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 2278.904 us (Expected < 1666.667 us) --> Read time : 185.139 us, Update time : 1336.560 us, Write time : 757.205 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 2278.904 us (Expected < 1666.667 us) --> Read time : 185.139 us, Update time : 1336.560 us, Write time : 757.205 us[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339128 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.339128 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 2347.176 us (Expected < 1666.667 us) --> Read time : 238.971 us, Update time : 674.720 us, Write time : 1433.485 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 2347.176 us (Expected < 1666.667 us) --> Read time : 238.971 us, Update time : 674.720 us, Write time : 1433.485 us[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915138 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915138 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151191 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151191 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 2852.530 us (Expected < 1666.667 us) --> Read time : 365.807 us, Update time : 106.855 us, Write time : 2379.868 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 2852.530 us (Expected < 1666.667 us) --> Read time : 365.807 us, Update time : 106.855 us, Write time : 2379.868 us[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116810 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.116810 ms (missed cycles : 3).[0m ×2 + 10.33sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.35sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.37sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.37sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.38sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.40sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.47sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.49sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.51sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.53sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.55sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.57sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.59sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.60sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.62sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.63sWARNcontroller_managerOverrun might occur, Total time : 1695.377 us (Expected < 1666.667 us) --> Read time : 1239.096 us, Update time : 102.175 us, Write time : 354.106 us + 10.63sINFOweb_video_server-31process has finished cleanly [pid 9921] ×2 + 10.64sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.66sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9906] ×2 + 10.67sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.68sINFOcontroller_managerShutdown request received.... + 10.68sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.68sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.68sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.68sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.68sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.68sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.68sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.68sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.68sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.68sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.68sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.68sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.68sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.68sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.68sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.68sINFOcontroller_managerShutting down the controller manager. + 10.69sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.71sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.72sERRORmove_group-20process has died [pid 9849, 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_1kkhgql7 --params-file /tmp/launch_params_mtb8lo_0 --params-file /tmp/launch_params_21c6mnqm --params-file /tmp/launch_params_qil_3p3e --params-file /tmp/launch_params_35od419q --params-file /tmp/launch_params_7xou3t2i --params-file /tmp/launch_params_d34cu0ds --params-file /tmp/launch_params_7nj7abgh --params-file /tmp/launch_params_axautl48']. ×2 + 10.73sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.75sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.77sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.78sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.80sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.80sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.80sINFOcontroller_serverCleaning up + 10.80sINFOlocal_costmap.local_costmapCleaning up + 10.80sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.80sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.80sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.80sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.80sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.80sINFOui_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 + 10.80sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.80sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.80sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.80sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.80sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.80sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.80sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.80sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.80sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sERRORobjective_server_node_main-25process has died [pid 9899, 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_yqp02hlk --params-file /tmp/launch_params_0_d034zu --params-file /tmp/launch_params_bfmdzxlh --params-file /tmp/launch_params_8y1w3n19 --params-file /tmp/launch_params_lw0ouf9r --params-file /tmp/launch_params_ms43i4dp']. ×2 + 10.81sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.81sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sWARNros2_control_nodeOverrun might occur, Total time : 1695.377 us (Expected < 1666.667 us) --> Read time : 1239.096 us, Update time : 102.175 us, Write time : 354.106 us[0m ×2 + 10.81sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.81sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.81sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.81sERRORmove_groupStack trace (most recent call last) in thread 10412: ×2 + 10.81sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.81sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0977552a63, in __clone ×2 + 10.81sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09774c5aa3, in ×2 + 10.81sINFOobjective_server_node[2026-06-11 15:38:12.997] [moveit_pro_license] [info] ×2 + 10.81sINFOobjective_server_node************************************************* ×4 + 10.81sINFOobjective_server_node* MoveIt Pro License ×2 + 10.81sINFOobjective_server_node* Application has successfully terminated ×2 + 10.81sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0977757db3, in ×2 + 10.81sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f0977dac19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.81sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0977aca4d0, in rclcpp::Rate::sleep() ×2 + 10.81sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f0977a1da88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.81sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f09779e2a71, in ×2 + 10.81sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0977726390, in __cxa_throw ×2 + 10.81sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0977710a54, in std::terminate() ×2 + 10.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f09777260d9, in ×2 + 10.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f0977710ff4, in ×2 + 10.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09774518fe, in abort ×2 + 10.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f097746e27d, in raise ×2 + 10.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f09774c7b2c, in pthread_kill ×2 + 10.82sERRORmove_groupAborted (Signal sent by tkill() 9849 0) ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.82sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.82sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.82sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.82sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.82sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a2be846a4, in _start ×2 + 10.82sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f945d3f928a, in __libc_start_main ×2 + 10.82sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f945d3f91d0, in ×2 + 10.82sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f945d416bbd, in exit ×2 + 10.82sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f945d416a75, in ×2 + 10.82sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f945d8e84a2, in spdlog::details::registry::~registry() ×2 + 10.82sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f945d8f369d, 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 + 10.82sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f945d8ed965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.82sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a2be8b315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.82sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a2be8a5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.82sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a2be86b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.82sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560a2be84d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.82sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df79454, in rclcpp::Node::~Node() ×2 + 10.82sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df34515, in ×2 + 10.82sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df77d20, in ×2 + 10.82sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df77c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.82sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df345d9, in ×2 + 10.82sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f945df39161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.82sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f940d6e6450]) ×2 + 10.83sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.83sINFOodom_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 + 10.83sINFOodom_qos_relay.pymain() ×2 + 10.83sINFOodom_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 + 10.83sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.83sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.83sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.83sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.83sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.83sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.83sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.83sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.83sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.83sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.83sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.84sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.84sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.84sINFOmap_serverDeactivating + 10.84sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.85sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.85sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.85sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.85sINFOmap_serverCleaning up + 10.85sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.85sINFOsmoother_serverCleaning up + 10.87sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.87sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.87sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.88sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.88sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.88sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.88sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.88sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.88sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.88sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.88sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.88sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.88sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.88sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.34sERRORcomponent_container_isolated-1process has died [pid 9744, 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_sucsru0h --params-file /tmp/launch_params_sbt8o0h3 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.60sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9898] ×2 + 11.61sERRORui_teleop_bridge-28process has died [pid 9904, 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_m66gisjc']. ×2 + 11.61sINFOexecute_objective_bridge-27process has finished cleanly [pid 9901] ×2 + 11.62sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9854] ×2 + 11.69sINFOparameter_manager_node-21process has finished cleanly [pid 9851] ×2 + 11.72sINFOwaypoint_manager_node-22process has finished cleanly [pid 9853] ×2 + 11.74sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9750] ×2 + 11.76sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9749] ×2 + 11.79sINFOstatic_transform_publisher-4process has finished cleanly [pid 9747] ×2 + 11.81sINFOstatic_transform_publisher-3process has finished cleanly [pid 9746] ×2 + 11.82sINFOstatic_transform_publisher-2process has finished cleanly [pid 9745] ×2 + 11.83sINFOcomponent_container_mt-26process has finished cleanly [pid 9900] ×2 + 11.83sERRORodom_qos_relay.py-5process has died [pid 9748, 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 + 13.00sINFOweb_bridge-29process has finished cleanly [pid 9905] ×2 + 13.00sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.46sINFOros2_control_node-8process has finished cleanly [pid 9751] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 90 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145140 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.145140 ms (missed cycles : 6).[0m ×2 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 2266.252 us (Expected < 1666.667 us) --> Read time : 137.996 us, Update time : 122.156 us, Write time : 2006.100 us + 0.75sWARNros2_control_nodeOverrun might occur, Total time : 2266.252 us (Expected < 1666.667 us) --> Read time : 137.996 us, Update time : 122.156 us, Write time : 2006.100 us[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438448 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438448 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun might occur, Total time : 4652.360 us (Expected < 1666.667 us) --> Read time : 164.747 us, Update time : 110.505 us, Write time : 4377.108 us + 2.06sWARNros2_control_nodeOverrun might occur, Total time : 4652.360 us (Expected < 1666.667 us) --> Read time : 164.747 us, Update time : 110.505 us, Write time : 4377.108 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381375 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381375 ms (missed cycles : 6).[0m ×2 + 3.20sWARNcontroller_managerOverrun might occur, Total time : 3244.907 us (Expected < 1666.667 us) --> Read time : 190.349 us, Update time : 160.387 us, Write time : 2894.171 us + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931126 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun might occur, Total time : 3244.907 us (Expected < 1666.667 us) --> Read time : 190.349 us, Update time : 160.387 us, Write time : 2894.171 us[0m ×2 + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931126 ms (missed cycles : 3).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781192132.14101124 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737101 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737101 ms (missed cycles : 2).[0m ×2 + 4.23sWARNcontroller_managerOverrun might occur, Total time : 3106.991 us (Expected < 1666.667 us) --> Read time : 154.797 us, Update time : 669.550 us, Write time : 2282.644 us + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 3106.991 us (Expected < 1666.667 us) --> Read time : 154.797 us, Update time : 669.550 us, Write time : 2282.644 us[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781192132.68950820 seconds. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (1.31e-06 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552236 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552236 ms (missed cycles : 3).[0m ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922147 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922147 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun might occur, Total time : 3853.764 us (Expected < 1666.667 us) --> Read time : 136.436 us, Update time : 3291.729 us, Write time : 425.599 us + 6.65sWARNros2_control_nodeOverrun might occur, Total time : 3853.764 us (Expected < 1666.667 us) --> Read time : 136.436 us, Update time : 3291.729 us, Write time : 425.599 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855258 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855258 ms (missed cycles : 3).[0m ×2 + 7.75sWARNcontroller_managerOverrun might occur, Total time : 3814.943 us (Expected < 1666.667 us) --> Read time : 114.026 us, Update time : 3328.040 us, Write time : 372.877 us + 7.75sWARNros2_control_nodeOverrun might occur, Total time : 3814.943 us (Expected < 1666.667 us) --> Read time : 114.026 us, Update time : 3328.040 us, Write time : 372.877 us[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399486 ms (missed cycles : 5). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399486 ms (missed cycles : 5).[0m ×2 + 8.82sWARNcontroller_managerOverrun might occur, Total time : 5493.719 us (Expected < 1666.667 us) --> Read time : 158.487 us, Update time : 5003.037 us, Write time : 332.195 us + 8.83sWARNros2_control_nodeOverrun might occur, Total time : 5493.719 us (Expected < 1666.667 us) --> Read time : 158.487 us, Update time : 5003.037 us, Write time : 332.195 us[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164910 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164910 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 1756.369 us (Expected < 1666.667 us) --> Read time : 680.521 us, Update time : 252.961 us, Write time : 822.887 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 1756.369 us (Expected < 1666.667 us) --> Read time : 680.521 us, Update time : 252.961 us, Write time : 822.887 us[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415115 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415115 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun might occur, Total time : 3732.449 us (Expected < 1666.667 us) --> Read time : 152.197 us, Update time : 3176.324 us, Write time : 403.928 us + 11.54sWARNros2_control_nodeOverrun might occur, Total time : 3732.449 us (Expected < 1666.667 us) --> Read time : 152.197 us, Update time : 3176.324 us, Write time : 403.928 us[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795159 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795159 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474637 ms (missed cycles : 5). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.474637 ms (missed cycles : 5).[0m ×2 + 12.83sWARNcontroller_managerOverrun might occur, Total time : 3705.558 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 3183.094 us, Write time : 392.398 us + 12.83sWARNros2_control_nodeOverrun might occur, Total time : 3705.558 us (Expected < 1666.667 us) --> Read time : 130.066 us, Update time : 3183.094 us, Write time : 392.398 us[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638257 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.638257 ms (missed cycles : 5).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925073 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925073 ms (missed cycles : 3).[0m ×2 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 1825.453 us (Expected < 1666.667 us) --> Read time : 195.709 us, Update time : 542.364 us, Write time : 1087.380 us + 14.83sWARNros2_control_nodeOverrun might occur, Total time : 1825.453 us (Expected < 1666.667 us) --> Read time : 195.709 us, Update time : 542.364 us, Write time : 1087.380 us[0m ×2 + 14.92sINFOjoint_trajectory_controllerGot request to cancel goal + 14.92sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781192143.13582039 seconds ×3 + 15.49sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781192143.68762541 seconds. ×3 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649651 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.649651 ms (missed cycles : 2).[0m ×2 + 15.86sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 15.97sWARNcontroller_managerOverrun might occur, Total time : 2688.971 us (Expected < 1666.667 us) --> Read time : 127.315 us, Update time : 2246.842 us, Write time : 314.814 us + 15.97sWARNros2_control_nodeOverrun might occur, Total time : 2688.971 us (Expected < 1666.667 us) --> Read time : 127.315 us, Update time : 2246.842 us, Write time : 314.814 us[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811331 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.811331 ms (missed cycles : 3).[0m ×2 + 17.05sWARNcontroller_managerOverrun might occur, Total time : 3677.817 us (Expected < 1666.667 us) --> Read time : 167.788 us, Update time : 3196.805 us, Write time : 313.224 us + 17.06sWARNros2_control_nodeOverrun might occur, Total time : 3677.817 us (Expected < 1666.667 us) --> Read time : 167.788 us, Update time : 3196.805 us, Write time : 313.224 us[0m ×2 + 17.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.74sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[0m ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 6840.789 us (Expected < 1666.667 us) --> Read time : 175.288 us, Update time : 199.899 us, Write time : 6465.602 us + 6.91sWARNros2_control_nodeOverrun might occur, Total time : 6840.789 us (Expected < 1666.667 us) --> Read time : 175.288 us, Update time : 199.899 us, Write time : 6465.602 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264040 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.264040 ms (missed cycles : 5).[0m ×2 + 7.96sWARNcontroller_managerOverrun might occur, Total time : 2506.913 us (Expected < 1666.667 us) --> Read time : 150.566 us, Update time : 1963.269 us, Write time : 393.078 us + 7.96sWARNros2_control_nodeOverrun might occur, Total time : 2506.913 us (Expected < 1666.667 us) --> Read time : 150.566 us, Update time : 1963.269 us, Write time : 393.078 us[0m ×2 + 8.37sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781192046.02124572 seconds ×3 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123324 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123324 ms (missed cycles : 3).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979409 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979409 ms (missed cycles : 2).[0m ×2 + 9.86sWARNcontroller_managerOverrun might occur, Total time : 2927.073 us (Expected < 1666.667 us) --> Read time : 2486.623 us, Update time : 138.357 us, Write time : 302.093 us + 9.86sWARNros2_control_nodeOverrun might occur, Total time : 2927.073 us (Expected < 1666.667 us) --> Read time : 2486.623 us, Update time : 138.357 us, Write time : 302.093 us[0m ×2 + 9.92sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781192047.57131505 seconds. ×3 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582522 ms (missed cycles : 3). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582522 ms (missed cycles : 3).[0m ×2 + 10.98sWARNcontroller_managerOverrun might occur, Total time : 1985.530 us (Expected < 1666.667 us) --> Read time : 1407.084 us, Update time : 143.506 us, Write time : 434.940 us + 10.98sWARNros2_control_nodeOverrun might occur, Total time : 1985.530 us (Expected < 1666.667 us) --> Read time : 1407.084 us, Update time : 143.506 us, Write time : 434.940 us[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.878654 ms (missed cycles : 8). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.878654 ms (missed cycles : 8).[0m ×2 + 11.76sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.7s | 57 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.84sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.42sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us + 6.97sWARNros2_control_nodeOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us[0m ×2 + 7.52sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191984.39263821 seconds ×3 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7).[0m ×2 + 8.07sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.94369388 seconds. ×3 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6).[0m ×2 + 9.19sWARNcontroller_managerOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.27sWARNcontroller_managerOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us + 10.27sWARNros2_control_nodeOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 39 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3).[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4).[0m ×2 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192284.78856945 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 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192285.37366438 seconds. ×3 + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.26sINFOmove_groupClearing octomap...[0m ×2 + 4.26sINFOmove_groupOctomap cleared.[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192285.85381293 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192286.40115237 seconds. ×3 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192286.87129593 seconds ×3 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2).[0m ×2 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727399 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727399 ms (missed cycles : 2).[0m ×2 + 7.21sWARNcontroller_managerOverrun might occur, Total time : 2278.904 us (Expected < 1666.667 us) --> Read time : 185.139 us, Update time : 1336.560 us, Write time : 757.205 us + 7.21sWARNros2_control_nodeOverrun might occur, Total time : 2278.904 us (Expected < 1666.667 us) --> Read time : 185.139 us, Update time : 1336.560 us, Write time : 757.205 us[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 33 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2125.646 us (Expected < 1666.667 us) --> Read time : 130.836 us, Update time : 1547.270 us, Write time : 447.540 us[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078413 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 1869.244 us (Expected < 1666.667 us) --> Read time : 177.498 us, Update time : 1380.252 us, Write time : 311.494 us[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001497 ms (missed cycles : 3).[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.459489 ms (missed cycles : 4).[0m ×2 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 2185.419 us (Expected < 1666.667 us) --> Read time : 203.410 us, Update time : 237.790 us, Write time : 1744.219 us[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781192284.78856945 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 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847671 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781192285.37366438 seconds. ×3 + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.26sINFOmove_groupClearing octomap...[0m ×2 + 4.26sINFOmove_groupOctomap cleared.[0m ×2 + 4.63sWARNcontroller_managerOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 5630.684 us (Expected < 1666.667 us) --> Read time : 133.856 us, Update time : 4865.340 us, Write time : 631.488 us[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781192285.85381293 seconds ×3 + 4.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989157 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781192286.40115237 seconds. ×3 + 5.71sWARNcontroller_managerOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us + 5.71sWARNros2_control_nodeOverrun might occur, Total time : 2067.634 us (Expected < 1666.667 us) --> Read time : 234.251 us, Update time : 1346.821 us, Write time : 486.562 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781192286.87129593 seconds ×3 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810564 ms (missed cycles : 2).[0m ×2 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 39 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4707.283 us (Expected < 1666.667 us) --> Read time : 184.359 us, Update time : 4080.414 us, Write time : 442.510 us[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027381 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 1723.538 us (Expected < 1666.667 us) --> Read time : 134.647 us, Update time : 1273.887 us, Write time : 315.004 us[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.660062 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409338 ms (missed cycles : 3).[0m ×2 + 2.24sWARNcontroller_managerOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us + 2.24sWARNros2_control_nodeOverrun might occur, Total time : 2108.005 us (Expected < 1666.667 us) --> Read time : 270.992 us, Update time : 1403.403 us, Write time : 433.610 us[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072275 ms (missed cycles : 6).[0m ×2 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.84sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 4.61sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 4.61sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 5.42sINFOjoint_trajectory_controllerReceived new action goal + 5.42sINFOjoint_trajectory_controllerAccepted new action goal + 5.42sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.42sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3054.648 us (Expected < 1666.667 us) --> Read time : 205.939 us, Update time : 2447.751 us, Write time : 400.958 us[0m ×2 + 0.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781191980.73695183 seconds ×3 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230206 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781191981.28237414 seconds. ×3 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 4569.606 us (Expected < 1666.667 us) --> Read time : 162.217 us, Update time : 3877.645 us, Write time : 529.744 us[0m ×2 + 1.89sINFOobjective_server_nodeFound path in 0 iterations (2.5561e-05 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.389598 ms (missed cycles : 4).[0m ×2 + 1.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1926.887 us (Expected < 1666.667 us) --> Read time : 166.728 us, Update time : 141.966 us, Write time : 1618.193 us[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.553068 ms (missed cycles : 4).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 2152.718 us (Expected < 1666.667 us) --> Read time : 1603.793 us, Update time : 160.397 us, Write time : 388.528 us[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781191984.39263821 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.279063 ms (missed cycles : 7).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781191984.94369388 seconds. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029294 ms (missed cycles : 6).[0m ×2 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us + 5.69sWARNros2_control_nodeOverrun might occur, Total time : 7162.114 us (Expected < 1666.667 us) --> Read time : 6649.831 us, Update time : 152.827 us, Write time : 359.456 us[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120663 ms (missed cycles : 3).[0m ×2 + 6.44sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.76sWARNcontroller_managerOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 2481.453 us (Expected < 1666.667 us) --> Read time : 237.051 us, Update time : 1755.450 us, Write time : 488.952 us[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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[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 7.681732 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.681732 ms (missed cycles : 5).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 6019.363 us (Expected < 1666.667 us) --> Read time : 224.840 us, Update time : 5138.503 us, Write time : 656.020 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.055204 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us + 1.77sWARNros2_control_nodeOverrun might occur, Total time : 6795.407 us (Expected < 1666.667 us) --> Read time : 240.201 us, Update time : 6177.609 us, Write time : 377.597 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903448 ms (missed cycles : 2).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 3662.425 us (Expected < 1666.667 us) --> Read time : 297.183 us, Update time : 2961.094 us, Write time : 404.148 us[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751811 ms (missed cycles : 2).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781192041.42395258 seconds ×3 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sWARNcontroller_managerOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us + 4.09sWARNros2_control_nodeOverrun might occur, Total time : 1909.006 us (Expected < 1666.667 us) --> Read time : 152.147 us, Update time : 1442.305 us, Write time : 314.554 us[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.432644 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781192041.98109484 seconds. ×3 + 4.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.209015 ms (missed cycles : 7).[0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 1868.534 us (Expected < 1666.667 us) --> Read time : 233.000 us, Update time : 1261.237 us, Write time : 374.297 us[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911142 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.86674976 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.42086339 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.86674976 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.42086339 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1930.787 us (Expected < 1666.667 us) --> Read time : 764.704 us, Update time : 146.067 us, Write time : 1020.016 us[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058776 ms (missed cycles : 4).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3674.647 us (Expected < 1666.667 us) --> Read time : 154.627 us, Update time : 3081.950 us, Write time : 438.070 us[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024554 ms (missed cycles : 3).[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076455 ms (missed cycles : 4).[0m ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3276.688 us (Expected < 1666.667 us) --> Read time : 158.847 us, Update time : 2581.237 us, Write time : 536.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947853 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGoal reached, success! + 4.03sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781192077.86674976 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.25sWARNcontroller_managerOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us + 4.25sWARNros2_control_nodeOverrun might occur, Total time : 4886.691 us (Expected < 1666.667 us) --> Read time : 158.357 us, Update time : 801.116 us, Write time : 3927.218 us[0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.650326 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781192078.42086339 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006764 ms (missed cycles : 4).[0m ×2 + 6.22sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1906.826 us (Expected < 1666.667 us) --> Read time : 132.226 us, Update time : 1362.422 us, Write time : 412.178 us[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.665226 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 36 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.246722 ms (missed cycles : 2).[0m ×2 + 0.18sWARNcontroller_managerOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us + 0.18sWARNros2_control_nodeOverrun might occur, Total time : 3439.896 us (Expected < 1666.667 us) --> Read time : 181.488 us, Update time : 2908.422 us, Write time : 349.986 us[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149618 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us + 1.22sWARNros2_control_nodeOverrun might occur, Total time : 3206.235 us (Expected < 1666.667 us) --> Read time : 143.226 us, Update time : 2725.544 us, Write time : 337.465 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473430 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 2615.459 us (Expected < 1666.667 us) --> Read time : 167.708 us, Update time : 118.775 us, Write time : 2328.976 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344461 ms (missed cycles : 3).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! + 3.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781192216.29778886 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781192216.84742594 seconds. ×3 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 5672.696 us (Expected < 1666.667 us) --> Read time : 170.887 us, Update time : 5140.913 us, Write time : 360.896 us[0m ×2 + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.022167 ms (missed cycles : 4).[0m ×2 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550129 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4181.949 us (Expected < 1666.667 us) --> Read time : 155.307 us, Update time : 3682.407 us, Write time : 344.235 us[0m ×2 + 5.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.96sINFOjoint_trajectory_controllerReceived new action goal + 5.96sINFOjoint_trajectory_controllerAccepted new action goal + 5.96sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.543909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 24.4s | 13 errors · 101 warnings · 4758 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-15-31-50-623919-bef43f8181b2-9695 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.14sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 10.14sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 10.14sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 10.22sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.27sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.28sINFOcontroller_managerupdate rate is 600 Hz + 10.28sINFOcontroller_managerOverruns handling is : enabled + 10.28sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.28sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 10.29sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308420 ms (missed cycles : 2). + 10.37sINFOcontroller_serverCreating controller server + 10.38sINFOros2_control_node-8process started with pid [9751] ×2 + 10.39sINFOmove_group-20process started with pid [9849] ×2 + 10.39sINFOparameter_manager_node-21process started with pid [9851] ×2 + 10.39sINFOwaypoint_manager_node-22process started with pid [9853] ×2 + 10.39sINFOmove_joint_resampler_node-23process started with pid [9854] ×2 + 10.39sINFOmove_end_effector_resampler_node-24process started with pid [9898] ×2 + 10.39sINFOobjective_server_node_main-25process started with pid [9899] ×2 + 10.39sINFOcomponent_container_mt-26process started with pid [9900] ×2 + 10.39sINFOexecute_objective_bridge-27process started with pid [9901] ×2 + 10.40sINFOui_teleop_bridge-28process started with pid [9904] ×2 + 10.40sINFOweb_bridge-29process started with pid [9905] ×2 + 10.40sINFOtf2_web_republisher_node-30process started with pid [9906] ×2 + 10.40sINFOweb_video_server-31process started with pid [9921] ×2 + 10.41sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.42sINFOlocal_costmap.local_costmapCreating Costmap + 10.42sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.42sINFOcomponent_container_isolated-1process started with pid [9744] ×2 + 10.42sINFOstatic_transform_publisher-2process started with pid [9745] ×2 + 10.42sINFOstatic_transform_publisher-3process started with pid [9746] ×2 + 10.42sINFOstatic_transform_publisher-4process started with pid [9747] ×2 + 10.42sINFOodom_qos_relay.py-5process started with pid [9748] ×2 + 10.42sINFOscan_to_scan_filter_chain-6process started with pid [9749] ×2 + 10.42sINFOscan_to_scan_filter_chain-7process started with pid [9750] ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9829] ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9830] ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9831] ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9832] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9834] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9836] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9841] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9842] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9843] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9845] ×2 + 10.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9847] ×2 + 10.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.53sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 10.53sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.53sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.53sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.53sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 10.55sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 10.55sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 10.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.55sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 10.55sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 10.55sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 10.55sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 10.55sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 10.55sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308420 ms (missed cycles : 2).[0m ×2 + 10.58sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.58sINFOmap_serverCreating + 10.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 10.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.61sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 10.61sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 10.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 10.61sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 10.63sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.69sINFOsmoother_serverCreating smoother server + 10.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 10.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 10.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.71sINFOrobot_state_publisherRobot initialized + 10.71sINFOcontroller_managerReceived robot description from topic. + 10.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 10.71sINFOcomponent_container_mtRobot initialized[0m ×2 + 10.71sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 10.71sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 10.73sINFOlifecycle_manager_localizationCreating + 10.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 10.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 10.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 10.75sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 10.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 10.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 10.75sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.75sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.75sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 10.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 10.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 10.76sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 10.76sINFOmap_serverConfiguring + 10.80sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.80sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.80sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.80sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.81sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.84sINFOplanner_serverCreating + 10.86sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 10.86sINFOmap_serverActivating + 10.86sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 10.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 10.87sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 10.87sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 10.89sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.89sINFOglobal_costmap.global_costmapCreating Costmap + 10.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 10.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 10.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 10.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 10.96sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 10.97sINFOlifecycle_manager_localizationServer map_server connected with bond. + 10.97sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.97sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.06sINFObt_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. + 11.08sINFObt_navigatorCreating + 11.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.12sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 11.13sINFOwaypoint_followerCreating + 11.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.16sWARNlaser_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. + 11.16sWARNlaser_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. + 11.16sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 11.19sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 11.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.22sINFOlifecycle_manager_navigationCreating + 11.23sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.26sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.26sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.26sINFOcontroller_serverConfiguring controller interface + 11.26sINFOcontroller_servergetting progress checker plugins.. + 11.26sINFOcontroller_servergetting goal checker plugins.. + 11.26sINFOcontroller_serverController frequency set to 20.0000Hz + 11.26sINFOlocal_costmap.local_costmapConfiguring + 11.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.31sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 11.34sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 11.35sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 11.35sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 11.35sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 11.35sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.35sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.35sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.36sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.243243 seconds + 11.36sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.36sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.38sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.38sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.39sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.42sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.42sINFOmove_groupLoaded robot model in 0.243243 seconds[0m ×2 + 11.42sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.42sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.43sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.44sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.44sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.44sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.46sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.47sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.49sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.49sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.49sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.49sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.50sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.50sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.50sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.51sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.52sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.52sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.52sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.52sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.52sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.53sINFOcontroller_serverOptimizer reset + 11.54sINFOcontroller_serverController Server has FollowPath controllers available. + 11.57sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.57sINFOsmoother_serverConfiguring smoother server + 11.60sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 11.61sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 11.62sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 11.62sINFOplanner_serverConfiguring + 11.62sINFOglobal_costmap.global_costmapConfiguring + 11.64sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 11.66sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267888 ms (missed cycles : 2). + 11.66sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 11.66sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267888 ms (missed cycles : 2).[0m ×2 + 11.67sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 11.70sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 11.70sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 11.71sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 11.74sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 11.74sINFOplanner_serverCleaning up + 11.74sINFOglobal_costmap.global_costmapCleaning up + 11.75sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 11.82sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.82sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 11.82sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.82sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 11.83sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.92sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 11.92sINFOwaypoint_manager_nodeLoaded robot model in 0.370906 seconds[0m ×2 + 11.92sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 11.92sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.31sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.33sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.46sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.71sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 12.71sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 12.72sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 12.72sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 12.80sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 12.80sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 12.80sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 12.80sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 12.80sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 12.81sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 12.81sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.81sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 12.81sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 12.81sINFOmove_groupStarting planning scene monitor[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 12.81sINFOmove_groupListening to '/planning_scene'[0m ×2 + 12.81sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 12.81sINFOmove_groupListening to 'collision_object'[0m ×2 + 12.81sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 12.81sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 12.97sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 12.97sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.98sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 13.34sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 13.34sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 13.34sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 13.34sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 13.34sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 13.34sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 13.34sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 13.34sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 13.34sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 13.34sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 13.34sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 13.34sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 13.34sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 13.34sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 13.34sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 13.34sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 13.34sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 13.34sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 13.34sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 13.34sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 13.34sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 13.37sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.37sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.37sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 13.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 13.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 13.47sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 13.47sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 13.47sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 13.47sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 13.50sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 13.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 13.50sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 13.50sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 13.51sINFOplatform_velocity_controllerconfigure successful + 13.51sINFOros2_control_nodeconfigure successful[0m ×6 + 13.51sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 13.51sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 13.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 13.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 13.52sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 13.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 13.60sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.60sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 13.60sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.60sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 13.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 13.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493900 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493900 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun might occur, Total time : 1796.302 us (Expected < 1666.667 us) --> Read time : 255.412 us, Update time : 47.762 us, Write time : 1493.128 us + 13.74sWARNros2_control_nodeOverrun might occur, Total time : 1796.302 us (Expected < 1666.667 us) --> Read time : 255.412 us, Update time : 47.762 us, Write time : 1493.128 us[0m ×2 + 13.82sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.82sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 13.82sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.82sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 13.82sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 13.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 13.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.83sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 13.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9832] ×2 + 13.97sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 13.97sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 13.99sINFOobjective_server_node[2026-06-11 15:32:07.779] [moveit_pro_license] [info] ×2 + 14.00sINFOobjective_server_node************************************************* ×4 + 14.00sINFOobjective_server_node* MoveIt Pro License ×2 + 14.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 14.04sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 14.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 14.05sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.05sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 14.06sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 14.06sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 14.06sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 14.08sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 14.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 14.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 14.17sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.17sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 14.17sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.20sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 14.20sINFOcomponent_container_mtLoaded robot model in 0.344688 seconds[0m ×2 + 14.20sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 14.20sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.33sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.33sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 14.33sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.35sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 14.36sINFOobjective_server_nodeLoaded robot model in 0.301695 seconds[0m ×2 + 14.36sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 14.36sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.47sINFOros2_control_node[2026-06-11 15:32:08.252] [info] Controller state will be published at 20 Hz. ×2 + 14.47sINFOros2_control_node[2026-06-11 15:32:08.254] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.73sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944978 ms (missed cycles : 3). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944978 ms (missed cycles : 3).[0m ×2 + 14.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 14.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 14.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9847] ×2 + 14.82sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 14.82sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 14.84sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.85sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 14.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 14.92sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 14.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 14.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.93sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.93sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.93sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.93sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.93sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 15.01sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 15.02sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 15.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 15.03sWARNcontroller_managerOverrun might occur, Total time : 4267.003 us (Expected < 1666.667 us) --> Read time : 3891.486 us, Update time : 52.993 us, Write time : 322.524 us + 15.03sWARNros2_control_nodeOverrun might occur, Total time : 4267.003 us (Expected < 1666.667 us) --> Read time : 3891.486 us, Update time : 52.993 us, Write time : 322.524 us[0m ×2 + 15.03sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 15.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 15.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 15.27sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 15.27sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 15.27sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 15.27sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 15.28sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 15.28sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 15.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9841] ×2 + 15.34sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 15.34sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 15.35sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 15.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 15.35sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 15.35sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 15.35sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 15.35sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 15.36sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 15.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 15.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.46sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.46sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.46sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.46sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz) + 15.46sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.46sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 10.0 Hz)[0m ×2 + 15.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 15.48sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 15.48sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 15.58sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 15.58sINFOmove_groupMoveGroup debug mode is ON + 15.58sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 15.58sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 15.59sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 15.65sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 15.65sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 15.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.71sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.71sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.71sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 15.71sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 15.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9830] ×2 + 15.74sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 15.74sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 15.74sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 15.75sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 15.75sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 15.75sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 15.78sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 15.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 15.79sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.79sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.79sINFOforce_torque_sensor_broadcasterconfigure successful + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553060 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553060 ms (missed cycles : 3).[0m ×2 + 15.81sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 15.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.82sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 15.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 15.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 15.92sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 15.92sINFOmove_group ×8 + 15.92sINFOmove_group******************************************************** ×4 + 15.92sINFOmove_group* MoveGroup using: ×2 + 15.92sINFOmove_group* - apply_planning_scene_service ×2 + 15.92sINFOmove_group* - clear_octomap_service ×2 + 15.92sINFOmove_group* - ExecuteTaskSolution ×2 + 15.92sINFOmove_group* - get_group_urdf ×2 + 15.92sINFOmove_group* - load_geometry_from_file ×2 + 15.92sINFOmove_group* - get_planning_scene_service ×2 + 15.92sINFOmove_group* - kinematics_service ×2 + 15.92sINFOmove_group* - save_geometry_to_file ×2 + 15.92sINFOmove_group* - GetPlanningGroups ×2 + 15.92sINFOmove_group* - SetActiveControllerService ×2 + 15.92sINFOmove_group* - URDFPlanningSceneCapability ×2 + 15.92sINFOmove_group[0m ×2 + 15.92sINFOmove_group[92mYou can start planning now![0m ×2 + 16.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9829] ×2 + 16.14sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 16.40sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.40sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.40sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.40sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.40sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 16.40sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 16.42sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 16.43sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 16.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 16.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 16.80sINFOros2_control_node[2026-06-11 15:32:10.583] [info] Controller state will be published at 20 Hz. ×2 + 16.80sINFOros2_control_node[2026-06-11 15:32:10.584] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784277 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784277 ms (missed cycles : 4).[0m ×2 + 16.86sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 17.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 17.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 17.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 17.18sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 17.18sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 17.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 17.24sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 17.24sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 17.30sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 17.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 17.30sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 17.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 17.68sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.69sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 17.69sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 18.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 18.05sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 18.31sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.31sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.31sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.31sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.31sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 18.31sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 18.34sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 18.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 18.34sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.34sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.72sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 18.72sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 18.73sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.73sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 18.73sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 19.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 19.10sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 19.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 19.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 19.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 19.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 19.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 19.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 19.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 19.38sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 19.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 19.39sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 19.39sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 19.39sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 19.39sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 19.40sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 19.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 19.40sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 19.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 19.40sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 19.41sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 19.41sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 19.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 19.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 19.78sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 19.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 19.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.79sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 19.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 19.82sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 19.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 19.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.82sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 19.82sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 19.83sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.83sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.83sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 19.83sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 19.84sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.84sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.84sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 19.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 19.90sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 19.90sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 20.31sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.31sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.31sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.31sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 20.31sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.31sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 20.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 20.38sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 20.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 20.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.39sINFOplatform_velocity_controller_nav2configure successful + 20.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 20.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 20.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 21.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 21.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 21.18sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 21.18sINFOmove_groupClearing octomap...[0m ×2 + 21.18sINFOmove_groupOctomap cleared.[0m ×2 + 21.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 21.33sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 21.33sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 21.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 21.74sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 22.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 22.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 22.46sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 22.46sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 23.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 23.03sINFOobjective_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 + 23.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 23.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 23.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 23.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 23.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 23.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 23.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 23.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 23.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 23.06sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 23.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 23.06sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 23.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 23.37sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.55sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 23.55sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 23.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 23.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 57 warnings · 694 info |
+ 0.00sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.37sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.62sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.62sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.63sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.66sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.67sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.67sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.70sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.41sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.67sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.67sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.67sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.70sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.71sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.71sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.72sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.72sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.72sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.10sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.14sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.14sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.14sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.14sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.14sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.16sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 2.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.70sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.71sINFOplatform_velocity_controller_nav2configure successful + 2.71sINFOros2_control_nodeconfigure successful[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.49sINFOmove_groupClearing octomap...[0m ×2 + 3.49sINFOmove_groupOctomap cleared.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.35sINFOobjective_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 + 5.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.94sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.98sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 7.66sINFOjoint_trajectory_controllerReceived new action goal + 7.66sINFOjoint_trajectory_controllerAccepted new action goal + 7.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 57 warnings · 1167 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 7.47sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 7.51sINFOobjective_server_nodePlanning for 177 path waypoints. | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | teleoperate.xml | 0.0s | 54 warnings · 686 info |
+ 0.00sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.37sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.62sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.62sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.62sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.63sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.63sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.66sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.66sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.67sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.67sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.67sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.70sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.05sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.41sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.67sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.67sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.67sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.67sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.67sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.70sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.71sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.71sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.71sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.71sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.72sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.72sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.72sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.72sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.72sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.10sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.10sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.10sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.11sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.14sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.14sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.14sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.14sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.14sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.16sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.22sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 2.63sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.63sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.63sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.63sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.63sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.63sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.70sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.71sINFOplatform_velocity_controller_nav2configure successful + 2.71sINFOros2_control_nodeconfigure successful[0m ×2 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.49sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.49sINFOmove_groupClearing octomap...[0m ×2 + 3.49sINFOmove_groupOctomap cleared.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.35sINFOobjective_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 + 5.35sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.37sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.38sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.86sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.94sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.98sINFOobjective_server_nodePlanning for 177 path waypoints. | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 51 warnings · 1166 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 4248.703 us (Expected < 1666.667 us) --> Read time : 165.978 us, Update time : 51.682 us, Write time : 4031.043 us[0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9845] ×2 + 0.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 0.15sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.17sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.17sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.19sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.53sINFOros2_control_node[2026-06-11 15:32:11.468] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.471] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-11 15:32:11.472] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697036 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9842] ×2 + 0.90sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.16sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.16sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.19sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.57sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 1.57sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 1.58sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 1.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 1.95sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.20sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.20sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.20sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.20sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.21sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.21sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.23sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.23sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.24sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.24sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.25sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.25sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.25sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 2.26sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 2.63sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.63sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.64sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 2.64sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 2.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.67sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.67sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 3.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.16sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.16sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 3.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.16sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 3.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.24sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.24sINFOros2_control_nodeconfigure successful[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 4.18sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 4.18sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 5.31sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 5.91sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 5.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 6.22sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.40sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 6.40sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 6.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | track_moving_frame.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[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 | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 54 warnings · 540 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×86 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×148 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×80 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us + 0.36sWARNros2_control_nodeOverrun might occur, Total time : 2971.705 us (Expected < 1666.667 us) --> Read time : 358.076 us, Update time : 109.225 us, Write time : 2504.404 us[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.514] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.517] [info] Controller state will be published at 10 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 15:32:12.519] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.313127 ms (missed cycles : 7).[0m ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9843] ×2 + 0.73sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 0.99sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.03sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.03sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.03sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.03sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.03sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us + 1.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 4728.984 us (Expected < 1666.667 us) --> Read time : 173.178 us, Update time : 4181.639 us (Switch time : 4101.106 us (Switch chained mode time : 0.450 us, perform mode change time : 2.551 us, Activation time : 4088.615 us, Deactivation time : 0.500 us)), Write time : 374.167 us[0m ×2 + 1.04sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9834] ×2 + 1.41sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.42sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.43sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.46sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.46sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.46sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.46sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.46sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.46sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.47sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.47sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.48sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.891 us (Expected < 1666.667 us) --> Read time : 208.240 us, Update time : 1234.826 us, Write time : 336.825 us[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471166 ms (missed cycles : 2).[0m ×2 + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_6ozw5z56 --params-file /tmp/launch_params_ac56siqc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zaozrob8 --params-file /tmp/launch_params_ka95z712 [0m ×2 + 1.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9831] ×2 + 2.02sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.02sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.02sINFOplatform_velocity_controller_nav2configure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9836] ×2 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623423 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781191934.95812774 seconds. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781191934.96837044 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 2155.658 us (Expected < 1666.667 us) --> Read time : 150.517 us, Update time : 1696.627 us, Write time : 308.514 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781191935.51361299 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781191935.52376270 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637744 ms (missed cycles : 4).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781191936.07376385 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781191936.22443461 seconds ×3 + 4.10sWARNcontroller_managerOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us + 4.10sWARNros2_control_nodeOverrun might occur, Total time : 2880.081 us (Expected < 1666.667 us) --> Read time : 176.468 us, Update time : 258.762 us, Write time : 2444.851 us[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781191936.78981471 seconds. ×3 + 4.67sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sWARNcontroller_managerOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 4771.766 us (Expected < 1666.667 us) --> Read time : 193.789 us, Update time : 4195.950 us (Switch time : 4110.676 us (Switch chained mode time : 0.620 us, perform mode change time : 4.750 us, Activation time : 4091.785 us, Deactivation time : 0.460 us)), Write time : 382.027 us[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781191936.84996819 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203611 ms (missed cycles : 2).[0m ×2 + 5.01sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 3677.758 us (Expected < 1666.667 us) --> Read time : 136.207 us, Update time : 82.803 us, Write time : 3458.748 us[0m ×2 + 5.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781191937.38998151 seconds. ×3 + 5.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.26sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.26sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2). + 5.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672613 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 4026.686 us (Expected < 1666.667 us) --> Read time : 141.426 us, Update time : 3432.799 us, Write time : 452.461 us[0m ×2 + 6.30sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938260 ms (missed cycles : 3).[0m ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.98sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||