67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.0s
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 | 70.5s | 3 errors · 390 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667835 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667835 ms (missed cycles : 3).[0m ×2 + 0.57sWARNcontroller_managerOverrun might occur, Total time : 3211.360 us (Expected < 1666.667 us) --> Read time : 136.892 us, Update time : 510.800 us, Write time : 2563.668 us + 0.57sWARNros2_control_nodeOverrun might occur, Total time : 3211.360 us (Expected < 1666.667 us) --> Read time : 136.892 us, Update time : 510.800 us, Write time : 2563.668 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350909 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350909 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018289 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018289 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 9515.528 us (Expected < 1666.667 us) --> Read time : 155.423 us, Update time : 8940.898 us, Write time : 419.207 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 9515.528 us (Expected < 1666.667 us) --> Read time : 155.423 us, Update time : 8940.898 us, Write time : 419.207 us[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015078 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015078 ms (missed cycles : 2).[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2487.317 us (Expected < 1666.667 us) --> Read time : 149.523 us, Update time : 1831.094 us, Write time : 506.700 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2487.317 us (Expected < 1666.667 us) --> Read time : 149.523 us, Update time : 1831.094 us, Write time : 506.700 us[0m ×2 + 4.04sINFOjoint_trajectory_controllerGot request to cancel goal + 4.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781196938.29853439 seconds ×3 + 4.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652831 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652831 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781196938.85302067 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 + 4.71sWARNcontroller_managerOverrun might occur, Total time : 1832.204 us (Expected < 1666.667 us) --> Read time : 130.342 us, Update time : 1408.406 us, Write time : 293.456 us + 4.71sWARNros2_control_nodeOverrun might occur, Total time : 1832.204 us (Expected < 1666.667 us) --> Read time : 130.342 us, Update time : 1408.406 us, Write time : 293.456 us[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976747 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976747 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176087 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176087 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 5899.011 us (Expected < 1666.667 us) --> Read time : 148.613 us, Update time : 5320.350 us, Write time : 430.048 us + 6.89sWARNros2_control_nodeOverrun might occur, Total time : 5899.011 us (Expected < 1666.667 us) --> Read time : 148.613 us, Update time : 5320.350 us, Write time : 430.048 us[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808751 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808751 ms (missed cycles : 2).[0m ×2 + 8.09sWARNcontroller_managerOverrun might occur, Total time : 3724.849 us (Expected < 1666.667 us) --> Read time : 95.221 us, Update time : 3318.232 us, Write time : 311.396 us + 8.10sWARNros2_control_nodeOverrun might occur, Total time : 3724.849 us (Expected < 1666.667 us) --> Read time : 95.221 us, Update time : 3318.232 us, Write time : 311.396 us[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536154 ms (missed cycles : 4). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536154 ms (missed cycles : 4).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881269 ms (missed cycles : 3). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.881269 ms (missed cycles : 3).[0m ×2 + 9.40sWARNcontroller_managerOverrun might occur, Total time : 2026.288 us (Expected < 1666.667 us) --> Read time : 215.224 us, Update time : 173.734 us, Write time : 1637.330 us + 9.40sWARNros2_control_nodeOverrun might occur, Total time : 2026.288 us (Expected < 1666.667 us) --> Read time : 215.224 us, Update time : 173.734 us, Write time : 1637.330 us[0m ×2 + 10.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387855 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387855 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun might occur, Total time : 3894.103 us (Expected < 1666.667 us) --> Read time : 335.287 us, Update time : 3116.067 us, Write time : 442.749 us + 10.86sWARNros2_control_nodeOverrun might occur, Total time : 3894.103 us (Expected < 1666.667 us) --> Read time : 335.287 us, Update time : 3116.067 us, Write time : 442.749 us[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044775 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044775 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085904 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085904 ms (missed cycles : 2).[0m ×2 + 12.35sWARNcontroller_managerOverrun might occur, Total time : 4777.918 us (Expected < 1666.667 us) --> Read time : 4292.749 us, Update time : 160.233 us, Write time : 324.936 us + 12.35sWARNros2_control_nodeOverrun might occur, Total time : 4777.918 us (Expected < 1666.667 us) --> Read time : 4292.749 us, Update time : 160.233 us, Write time : 324.936 us[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129709 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129709 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun might occur, Total time : 5048.005 us (Expected < 1666.667 us) --> Read time : 158.233 us, Update time : 4243.050 us, Write time : 646.722 us + 13.50sWARNros2_control_nodeOverrun might occur, Total time : 5048.005 us (Expected < 1666.667 us) --> Read time : 158.233 us, Update time : 4243.050 us, Write time : 646.722 us[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052328 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052328 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun might occur, Total time : 6159.115 us (Expected < 1666.667 us) --> Read time : 143.733 us, Update time : 5659.156 us, Write time : 356.226 us + 14.64sWARNros2_control_nodeOverrun might occur, Total time : 6159.115 us (Expected < 1666.667 us) --> Read time : 143.733 us, Update time : 5659.156 us, Write time : 356.226 us[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057423 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.057423 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun might occur, Total time : 5813.177 us (Expected < 1666.667 us) --> Read time : 249.114 us, Update time : 5156.606 us, Write time : 407.457 us + 15.75sWARNros2_control_nodeOverrun might occur, Total time : 5813.177 us (Expected < 1666.667 us) --> Read time : 249.114 us, Update time : 5156.606 us, Write time : 407.457 us[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599225 ms (missed cycles : 6). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.599225 ms (missed cycles : 6).[0m ×2 + 16.89sWARNcontroller_managerOverrun might occur, Total time : 6108.574 us (Expected < 1666.667 us) --> Read time : 136.972 us, Update time : 5568.105 us, Write time : 403.497 us + 16.89sWARNros2_control_nodeOverrun might occur, Total time : 6108.574 us (Expected < 1666.667 us) --> Read time : 136.972 us, Update time : 5568.105 us, Write time : 403.497 us[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256151 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256151 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun might occur, Total time : 2775.562 us (Expected < 1666.667 us) --> Read time : 142.233 us, Update time : 2267.652 us, Write time : 365.677 us + 18.24sWARNros2_control_nodeOverrun might occur, Total time : 2775.562 us (Expected < 1666.667 us) --> Read time : 142.233 us, Update time : 2267.652 us, Write time : 365.677 us[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698972 ms (missed cycles : 4). + 18.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698972 ms (missed cycles : 4).[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897537 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897537 ms (missed cycles : 2).[0m ×2 + 20.16sWARNcontroller_managerOverrun might occur, Total time : 5976.311 us (Expected < 1666.667 us) --> Read time : 134.423 us, Update time : 133.522 us, Write time : 5708.366 us + 20.16sWARNros2_control_nodeOverrun might occur, Total time : 5976.311 us (Expected < 1666.667 us) --> Read time : 134.423 us, Update time : 133.522 us, Write time : 5708.366 us[0m ×2 + 20.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255892 ms (missed cycles : 2). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.255892 ms (missed cycles : 2).[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137892 ms (missed cycles : 6). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137892 ms (missed cycles : 6).[0m ×2 + 22.27sWARNcontroller_managerOverrun might occur, Total time : 1678.632 us (Expected < 1666.667 us) --> Read time : 127.173 us, Update time : 1049.679 us, Write time : 501.780 us + 22.27sWARNros2_control_nodeOverrun might occur, Total time : 1678.632 us (Expected < 1666.667 us) --> Read time : 127.173 us, Update time : 1049.679 us, Write time : 501.780 us[0m ×2 + 22.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969217 ms (missed cycles : 2). + 22.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969217 ms (missed cycles : 2).[0m ×2 + 23.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505592 ms (missed cycles : 3). + 23.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505592 ms (missed cycles : 3).[0m ×2 + 23.83sWARNcontroller_managerOverrun might occur, Total time : 4544.524 us (Expected < 1666.667 us) --> Read time : 121.242 us, Update time : 4061.986 us, Write time : 361.296 us + 23.83sWARNros2_control_nodeOverrun might occur, Total time : 4544.524 us (Expected < 1666.667 us) --> Read time : 121.242 us, Update time : 4061.986 us, Write time : 361.296 us[0m ×2 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594708 ms (missed cycles : 4). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594708 ms (missed cycles : 4).[0m ×2 + 25.76sWARNcontroller_managerOverrun might occur, Total time : 7079.412 us (Expected < 1666.667 us) --> Read time : 233.465 us, Update time : 150.302 us, Write time : 6695.645 us + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753421 ms (missed cycles : 5). + 25.76sWARNros2_control_nodeOverrun might occur, Total time : 7079.412 us (Expected < 1666.667 us) --> Read time : 233.465 us, Update time : 150.302 us, Write time : 6695.645 us[0m ×2 + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.753421 ms (missed cycles : 5).[0m ×2 + 26.79sWARNcontroller_managerOverrun might occur, Total time : 5890.460 us (Expected < 1666.667 us) --> Read time : 147.453 us, Update time : 5441.611 us, Write time : 301.396 us + 26.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131563 ms (missed cycles : 4). + 26.79sWARNros2_control_nodeOverrun might occur, Total time : 5890.460 us (Expected < 1666.667 us) --> Read time : 147.453 us, Update time : 5441.611 us, Write time : 301.396 us[0m ×2 + 26.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131563 ms (missed cycles : 4).[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079924 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079924 ms (missed cycles : 2).[0m ×2 + 27.86sWARNcontroller_managerOverrun might occur, Total time : 2496.957 us (Expected < 1666.667 us) --> Read time : 173.764 us, Update time : 154.752 us, Write time : 2168.441 us + 27.86sWARNros2_control_nodeOverrun might occur, Total time : 2496.957 us (Expected < 1666.667 us) --> Read time : 173.764 us, Update time : 154.752 us, Write time : 2168.441 us[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.248302 ms (missed cycles : 6). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.248302 ms (missed cycles : 6).[0m ×2 + 29.05sWARNcontroller_managerOverrun might occur, Total time : 1849.365 us (Expected < 1666.667 us) --> Read time : 361.767 us, Update time : 595.021 us, Write time : 892.577 us + 29.05sWARNros2_control_nodeOverrun might occur, Total time : 1849.365 us (Expected < 1666.667 us) --> Read time : 361.767 us, Update time : 595.021 us, Write time : 892.577 us[0m ×2 + 29.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306440 ms (missed cycles : 6). + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306440 ms (missed cycles : 6).[0m ×2 + 30.52sWARNcontroller_managerOverrun might occur, Total time : 7877.657 us (Expected < 1666.667 us) --> Read time : 130.092 us, Update time : 7315.697 us, Write time : 431.868 us + 30.53sWARNros2_control_nodeOverrun might occur, Total time : 7877.657 us (Expected < 1666.667 us) --> Read time : 130.092 us, Update time : 7315.697 us, Write time : 431.868 us[0m ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702306 ms (missed cycles : 4). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.702306 ms (missed cycles : 4).[0m ×2 + 31.79sWARNcontroller_managerOverrun might occur, Total time : 5464.112 us (Expected < 1666.667 us) --> Read time : 139.333 us, Update time : 80.051 us, Write time : 5244.728 us + 31.79sWARNros2_control_nodeOverrun might occur, Total time : 5464.112 us (Expected < 1666.667 us) --> Read time : 139.333 us, Update time : 80.051 us, Write time : 5244.728 us[0m ×2 + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816424 ms (missed cycles : 3). + 32.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816424 ms (missed cycles : 3).[0m ×2 + 32.90sWARNcontroller_managerOverrun might occur, Total time : 1902.525 us (Expected < 1666.667 us) --> Read time : 141.372 us, Update time : 1413.506 us, Write time : 347.647 us + 32.90sWARNros2_control_nodeOverrun might occur, Total time : 1902.525 us (Expected < 1666.667 us) --> Read time : 141.372 us, Update time : 1413.506 us, Write time : 347.647 us[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749217 ms (missed cycles : 5). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749217 ms (missed cycles : 5).[0m ×2 + 33.50sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.50sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.83sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.92sWARNcontroller_managerOverrun might occur, Total time : 2720.341 us (Expected < 1666.667 us) --> Read time : 136.682 us, Update time : 2243.492 us, Write time : 340.167 us + 33.92sWARNros2_control_nodeOverrun might occur, Total time : 2720.341 us (Expected < 1666.667 us) --> Read time : 136.682 us, Update time : 2243.492 us, Write time : 340.167 us[0m ×2 + 34.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203093 ms (missed cycles : 2). + 34.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203093 ms (missed cycles : 2).[0m ×2 + 34.48sINFOobjective_server_nodePlanning for 31 path waypoints. ×6 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705502 ms (missed cycles : 2). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705502 ms (missed cycles : 2).[0m ×2 + 35.91sWARNcontroller_managerOverrun might occur, Total time : 5626.194 us (Expected < 1666.667 us) --> Read time : 129.122 us, Update time : 351.777 us, Write time : 5145.295 us + 35.91sWARNros2_control_nodeOverrun might occur, Total time : 5626.194 us (Expected < 1666.667 us) --> Read time : 129.122 us, Update time : 351.777 us, Write time : 5145.295 us[0m ×2 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520558 ms (missed cycles : 3). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520558 ms (missed cycles : 3).[0m ×2 + 36.93sWARNcontroller_managerOverrun might occur, Total time : 1839.865 us (Expected < 1666.667 us) --> Read time : 139.723 us, Update time : 135.833 us, Write time : 1564.309 us + 36.93sWARNros2_control_nodeOverrun might occur, Total time : 1839.865 us (Expected < 1666.667 us) --> Read time : 139.723 us, Update time : 135.833 us, Write time : 1564.309 us[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783323 ms (missed cycles : 2). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783323 ms (missed cycles : 2).[0m ×2 + 37.99sWARNcontroller_managerOverrun might occur, Total time : 2043.558 us (Expected < 1666.667 us) --> Read time : 124.552 us, Update time : 1648.101 us, Write time : 270.905 us + 37.99sWARNros2_control_nodeOverrun might occur, Total time : 2043.558 us (Expected < 1666.667 us) --> Read time : 124.552 us, Update time : 1648.101 us, Write time : 270.905 us[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521227 ms (missed cycles : 3). + 38.20sINFOros2_control_nodeMuJoCo sim: 1.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521227 ms (missed cycles : 3).[0m ×2 + 39.01sWARNcontroller_managerOverrun might occur, Total time : 1745.082 us (Expected < 1666.667 us) --> Read time : 194.533 us, Update time : 705.833 us, Write time : 844.716 us + 39.01sWARNros2_control_nodeOverrun might occur, Total time : 1745.082 us (Expected < 1666.667 us) --> Read time : 194.533 us, Update time : 705.833 us, Write time : 844.716 us[0m ×2 + 39.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537431 ms (missed cycles : 4). + 39.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.537431 ms (missed cycles : 4).[0m ×2 + 40.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806932 ms (missed cycles : 3). + 40.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806932 ms (missed cycles : 3).[0m ×2 + 40.88sWARNcontroller_managerOverrun might occur, Total time : 2427.486 us (Expected < 1666.667 us) --> Read time : 155.083 us, Update time : 791.735 us, Write time : 1480.668 us + 40.88sWARNros2_control_nodeOverrun might occur, Total time : 2427.486 us (Expected < 1666.667 us) --> Read time : 155.083 us, Update time : 791.735 us, Write time : 1480.668 us[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258117 ms (missed cycles : 4). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258117 ms (missed cycles : 4).[0m ×2 + 42.00sWARNcontroller_managerOverrun might occur, Total time : 4054.775 us (Expected < 1666.667 us) --> Read time : 111.132 us, Update time : 3552.196 us, Write time : 391.447 us + 42.00sWARNros2_control_nodeOverrun might occur, Total time : 4054.775 us (Expected < 1666.667 us) --> Read time : 111.132 us, Update time : 3552.196 us, Write time : 391.447 us[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434222 ms (missed cycles : 2). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434222 ms (missed cycles : 2).[0m ×2 + 43.30sWARNcontroller_managerOverrun might occur, Total time : 4339.060 us (Expected < 1666.667 us) --> Read time : 3819.761 us, Update time : 174.253 us, Write time : 345.046 us + 43.31sWARNros2_control_nodeOverrun might occur, Total time : 4339.060 us (Expected < 1666.667 us) --> Read time : 3819.761 us, Update time : 174.253 us, Write time : 345.046 us[0m ×2 + 43.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859425 ms (missed cycles : 3). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859425 ms (missed cycles : 3).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629205 ms (missed cycles : 7). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.629205 ms (missed cycles : 7).[0m ×2 + 44.86sWARNcontroller_managerOverrun might occur, Total time : 8796.643 us (Expected < 1666.667 us) --> Read time : 164.823 us, Update time : 8228.102 us, Write time : 403.718 us + 44.87sWARNros2_control_nodeOverrun might occur, Total time : 8796.643 us (Expected < 1666.667 us) --> Read time : 164.823 us, Update time : 8228.102 us, Write time : 403.718 us[0m ×2 + 45.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830585 ms (missed cycles : 2). + 45.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830585 ms (missed cycles : 2).[0m ×2 + 46.49sWARNcontroller_managerOverrun might occur, Total time : 2975.425 us (Expected < 1666.667 us) --> Read time : 134.142 us, Update time : 156.023 us, Write time : 2685.260 us + 46.49sWARNros2_control_nodeOverrun might occur, Total time : 2975.425 us (Expected < 1666.667 us) --> Read time : 134.142 us, Update time : 156.023 us, Write time : 2685.260 us[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355236 ms (missed cycles : 3). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355236 ms (missed cycles : 3).[0m ×2 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132748 ms (missed cycles : 5). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.132748 ms (missed cycles : 5).[0m ×2 + 47.81sWARNcontroller_managerOverrun might occur, Total time : 2888.234 us (Expected < 1666.667 us) --> Read time : 124.552 us, Update time : 2356.074 us, Write time : 407.608 us + 47.81sWARNros2_control_nodeOverrun might occur, Total time : 2888.234 us (Expected < 1666.667 us) --> Read time : 124.552 us, Update time : 2356.074 us, Write time : 407.608 us[0m ×2 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062142 ms (missed cycles : 2). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062142 ms (missed cycles : 2).[0m ×2 + 49.06sWARNcontroller_managerOverrun might occur, Total time : 1722.872 us (Expected < 1666.667 us) --> Read time : 237.155 us, Update time : 224.514 us, Write time : 1261.203 us + 49.06sWARNros2_control_nodeOverrun might occur, Total time : 1722.872 us (Expected < 1666.667 us) --> Read time : 237.155 us, Update time : 224.514 us, Write time : 1261.203 us[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692083 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692083 ms (missed cycles : 2).[0m ×2 + 50.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187574 ms (missed cycles : 2). + 50.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187574 ms (missed cycles : 2).[0m ×2 + 51.31sWARNcontroller_managerOverrun might occur, Total time : 1758.953 us (Expected < 1666.667 us) --> Read time : 143.943 us, Update time : 1263.324 us, Write time : 351.686 us + 51.31sWARNros2_control_nodeOverrun might occur, Total time : 1758.953 us (Expected < 1666.667 us) --> Read time : 143.943 us, Update time : 1263.324 us, Write time : 351.686 us[0m ×2 + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656677 ms (missed cycles : 4). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656677 ms (missed cycles : 4).[0m ×2 + 52.70sWARNcontroller_managerOverrun might occur, Total time : 2715.641 us (Expected < 1666.667 us) --> Read time : 149.743 us, Update time : 186.934 us, Write time : 2378.964 us + 52.70sWARNros2_control_nodeOverrun might occur, Total time : 2715.641 us (Expected < 1666.667 us) --> Read time : 149.743 us, Update time : 186.934 us, Write time : 2378.964 us[0m ×2 + 52.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127761 ms (missed cycles : 3). + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127761 ms (missed cycles : 3).[0m ×2 + 53.76sWARNcontroller_managerOverrun might occur, Total time : 1999.927 us (Expected < 1666.667 us) --> Read time : 199.723 us, Update time : 133.383 us, Write time : 1666.821 us + 53.76sWARNros2_control_nodeOverrun might occur, Total time : 1999.927 us (Expected < 1666.667 us) --> Read time : 199.723 us, Update time : 133.383 us, Write time : 1666.821 us[0m ×2 + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321758 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321758 ms (missed cycles : 2).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764327 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764327 ms (missed cycles : 3).[0m ×2 + 55.17sWARNcontroller_managerOverrun might occur, Total time : 4209.758 us (Expected < 1666.667 us) --> Read time : 135.412 us, Update time : 3717.290 us, Write time : 357.056 us + 55.17sWARNros2_control_nodeOverrun might occur, Total time : 4209.758 us (Expected < 1666.667 us) --> Read time : 135.412 us, Update time : 3717.290 us, Write time : 357.056 us[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938487 ms (missed cycles : 2). + 55.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938487 ms (missed cycles : 2).[0m ×2 + 56.30sWARNcontroller_managerOverrun might occur, Total time : 2727.571 us (Expected < 1666.667 us) --> Read time : 146.183 us, Update time : 2202.061 us, Write time : 379.327 us + 56.31sWARNros2_control_nodeOverrun might occur, Total time : 2727.571 us (Expected < 1666.667 us) --> Read time : 146.183 us, Update time : 2202.061 us, Write time : 379.327 us[0m ×2 + 56.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196213 ms (missed cycles : 2). + 56.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196213 ms (missed cycles : 2).[0m ×2 + 57.41sWARNcontroller_managerOverrun might occur, Total time : 8218.822 us (Expected < 1666.667 us) --> Read time : 124.922 us, Update time : 7672.362 us, Write time : 421.538 us + 57.41sWARNros2_control_nodeOverrun might occur, Total time : 8218.822 us (Expected < 1666.667 us) --> Read time : 124.922 us, Update time : 7672.362 us, Write time : 421.538 us[0m ×2 + 58.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816649 ms (missed cycles : 3). + 58.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.816649 ms (missed cycles : 3).[0m ×2 + 59.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926473 ms (missed cycles : 2). + 59.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926473 ms (missed cycles : 2).[0m ×2 + 59.32sWARNcontroller_managerOverrun might occur, Total time : 2021.928 us (Expected < 1666.667 us) --> Read time : 128.213 us, Update time : 1617.440 us, Write time : 276.275 us + 59.32sWARNros2_control_nodeOverrun might occur, Total time : 2021.928 us (Expected < 1666.667 us) --> Read time : 128.213 us, Update time : 1617.440 us, Write time : 276.275 us[0m ×2 + 60.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.083379 ms (missed cycles : 6). + 60.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.083379 ms (missed cycles : 6).[0m ×2 + 60.50sWARNcontroller_managerOverrun might occur, Total time : 8698.192 us (Expected < 1666.667 us) --> Read time : 130.492 us, Update time : 126.542 us, Write time : 8441.158 us + 60.50sWARNros2_control_nodeOverrun might occur, Total time : 8698.192 us (Expected < 1666.667 us) --> Read time : 130.492 us, Update time : 126.542 us, Write time : 8441.158 us[0m ×2 + 61.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408270 ms (missed cycles : 3). + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408270 ms (missed cycles : 3).[0m ×2 + 61.69sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 62.06sWARNcontroller_managerOverrun might occur, Total time : 3882.122 us (Expected < 1666.667 us) --> Read time : 138.932 us, Update time : 124.233 us, Write time : 3618.957 us + 62.06sWARNros2_control_nodeOverrun might occur, Total time : 3882.122 us (Expected < 1666.667 us) --> Read time : 138.932 us, Update time : 124.233 us, Write time : 3618.957 us[0m ×2 + 62.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933481 ms (missed cycles : 6). + 62.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.933481 ms (missed cycles : 6).[0m ×2 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305075 ms (missed cycles : 2). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305075 ms (missed cycles : 2).[0m ×2 + 63.83sWARNcontroller_managerOverrun might occur, Total time : 7806.816 us (Expected < 1666.667 us) --> Read time : 119.622 us, Update time : 7324.327 us, Write time : 362.867 us + 63.83sWARNros2_control_nodeOverrun might occur, Total time : 7806.816 us (Expected < 1666.667 us) --> Read time : 119.622 us, Update time : 7324.327 us, Write time : 362.867 us[0m ×2 + 64.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121524 ms (missed cycles : 2). + 64.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121524 ms (missed cycles : 2).[0m ×2 + 65.19sWARNcontroller_managerOverrun might occur, Total time : 2371.634 us (Expected < 1666.667 us) --> Read time : 144.282 us, Update time : 133.583 us, Write time : 2093.769 us + 65.19sWARNros2_control_nodeOverrun might occur, Total time : 2371.634 us (Expected < 1666.667 us) --> Read time : 144.282 us, Update time : 133.583 us, Write time : 2093.769 us[0m ×2 + 65.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464965 ms (missed cycles : 3). + 65.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464965 ms (missed cycles : 3).[0m ×2 + 66.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853171 ms (missed cycles : 3). + 66.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.853171 ms (missed cycles : 3).[0m ×2 + 66.57sWARNcontroller_managerOverrun might occur, Total time : 5787.738 us (Expected < 1666.667 us) --> Read time : 148.363 us, Update time : 245.744 us, Write time : 5393.631 us + 66.57sWARNros2_control_nodeOverrun might occur, Total time : 5787.738 us (Expected < 1666.667 us) --> Read time : 148.363 us, Update time : 245.744 us, Write time : 5393.631 us[0m ×2 + 67.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340889 ms (missed cycles : 5). + 67.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.340889 ms (missed cycles : 5).[0m ×2 + 67.78sWARNcontroller_managerOverrun might occur, Total time : 2142.660 us (Expected < 1666.667 us) --> Read time : 123.722 us, Update time : 1702.402 us, Write time : 316.536 us + 67.79sWARNros2_control_nodeOverrun might occur, Total time : 2142.660 us (Expected < 1666.667 us) --> Read time : 123.722 us, Update time : 1702.402 us, Write time : 316.536 us[0m ×2 + 68.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532154 ms (missed cycles : 3). + 68.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532154 ms (missed cycles : 3).[0m ×2 + 68.82sWARNcontroller_managerOverrun might occur, Total time : 7275.366 us (Expected < 1666.667 us) --> Read time : 144.632 us, Update time : 6617.964 us, Write time : 512.770 us + 68.82sWARNros2_control_nodeOverrun might occur, Total time : 7275.366 us (Expected < 1666.667 us) --> Read time : 144.632 us, Update time : 6617.964 us, Write time : 512.770 us[0m ×2 + 69.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498249 ms (missed cycles : 2). + 69.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498249 ms (missed cycles : 2).[0m ×2 + 70.07sWARNcontroller_managerOverrun might occur, Total time : 4743.228 us (Expected < 1666.667 us) --> Read time : 350.926 us, Update time : 3937.094 us, Write time : 455.208 us + 70.07sWARNros2_control_nodeOverrun might occur, Total time : 4743.228 us (Expected < 1666.667 us) --> Read time : 350.926 us, Update time : 3937.094 us, Write time : 455.208 us[0m ×2 + 70.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442843 ms (missed cycles : 7). + 70.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.442843 ms (missed cycles : 7).[0m ×2 + 71.37sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 71.38sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 71.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 71.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 72.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 72.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 72.93sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 72.93sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 73.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 73.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 74.45sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 74.45sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 74.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 74.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 74.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 75.16sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 75.55sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 75.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 75.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 75.81sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 75.81sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 76.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 76.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 291 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us[0m ×2 + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781196779.52285409 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781196780.07145739 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843325 ms (missed cycles : 3). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843325 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun might occur, Total time : 2025.568 us (Expected < 1666.667 us) --> Read time : 147.403 us, Update time : 1509.988 us, Write time : 368.177 us + 7.58sWARNros2_control_nodeOverrun might occur, Total time : 2025.568 us (Expected < 1666.667 us) --> Read time : 147.403 us, Update time : 1509.988 us, Write time : 368.177 us[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843699 ms (missed cycles : 5). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.843699 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun might occur, Total time : 1734.962 us (Expected < 1666.667 us) --> Read time : 141.293 us, Update time : 1265.483 us, Write time : 328.186 us + 8.64sWARNros2_control_nodeOverrun might occur, Total time : 1734.962 us (Expected < 1666.667 us) --> Read time : 141.293 us, Update time : 1265.483 us, Write time : 328.186 us[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675825 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675825 ms (missed cycles : 2).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776774 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.776774 ms (missed cycles : 3).[0m ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 2042.408 us (Expected < 1666.667 us) --> Read time : 180.773 us, Update time : 1526.679 us, Write time : 334.956 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 2042.408 us (Expected < 1666.667 us) --> Read time : 180.773 us, Update time : 1526.679 us, Write time : 334.956 us[0m ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544064 ms (missed cycles : 4). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544064 ms (missed cycles : 4).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171424 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171424 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun might occur, Total time : 2723.591 us (Expected < 1666.667 us) --> Read time : 119.652 us, Update time : 2202.811 us, Write time : 401.128 us + 12.39sWARNros2_control_nodeOverrun might occur, Total time : 2723.591 us (Expected < 1666.667 us) --> Read time : 119.652 us, Update time : 2202.811 us, Write time : 401.128 us[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540933 ms (missed cycles : 4). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.540933 ms (missed cycles : 4).[0m ×2 + 13.69sWARNcontroller_managerOverrun might occur, Total time : 7515.421 us (Expected < 1666.667 us) --> Read time : 123.372 us, Update time : 6882.359 us, Write time : 509.690 us + 13.69sWARNros2_control_nodeOverrun might occur, Total time : 7515.421 us (Expected < 1666.667 us) --> Read time : 123.372 us, Update time : 6882.359 us, Write time : 509.690 us[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734437 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734437 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun might occur, Total time : 4142.377 us (Expected < 1666.667 us) --> Read time : 502.430 us, Update time : 3276.810 us, Write time : 363.137 us + 14.85sWARNros2_control_nodeOverrun might occur, Total time : 4142.377 us (Expected < 1666.667 us) --> Read time : 502.430 us, Update time : 3276.810 us, Write time : 363.137 us[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206333 ms (missed cycles : 4). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206333 ms (missed cycles : 4).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.164628 ms (missed cycles : 5). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.164628 ms (missed cycles : 5).[0m ×2 + 16.54sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.76sWARNcontroller_managerOverrun might occur, Total time : 2116.019 us (Expected < 1666.667 us) --> Read time : 276.575 us, Update time : 218.754 us, Write time : 1620.690 us + 16.76sWARNros2_control_nodeOverrun might occur, Total time : 2116.019 us (Expected < 1666.667 us) --> Read time : 276.575 us, Update time : 218.754 us, Write time : 1620.690 us[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415963 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.415963 ms (missed cycles : 2).[0m ×2 + 17.89sWARNcontroller_managerOverrun might occur, Total time : 3277.361 us (Expected < 1666.667 us) --> Read time : 143.552 us, Update time : 94.672 us, Write time : 3039.137 us + 17.89sWARNros2_control_nodeOverrun might occur, Total time : 3277.361 us (Expected < 1666.667 us) --> Read time : 143.552 us, Update time : 94.672 us, Write time : 3039.137 us[0m ×2 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731248 ms (missed cycles : 3). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731248 ms (missed cycles : 3).[0m ×2 + 19.09sWARNcontroller_managerOverrun might occur, Total time : 2415.445 us (Expected < 1666.667 us) --> Read time : 159.653 us, Update time : 518.069 us, Write time : 1737.723 us + 19.09sWARNros2_control_nodeOverrun might occur, Total time : 2415.445 us (Expected < 1666.667 us) --> Read time : 159.653 us, Update time : 518.069 us, Write time : 1737.723 us[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822396 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822396 ms (missed cycles : 2).[0m ×2 + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559938 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559938 ms (missed cycles : 3).[0m ×2 + 21.03sWARNcontroller_managerOverrun might occur, Total time : 4330.621 us (Expected < 1666.667 us) --> Read time : 282.166 us, Update time : 3655.318 us, Write time : 393.137 us + 21.03sWARNros2_control_nodeOverrun might occur, Total time : 4330.621 us (Expected < 1666.667 us) --> Read time : 282.166 us, Update time : 3655.318 us, Write time : 393.137 us[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896363 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896363 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun might occur, Total time : 1990.467 us (Expected < 1666.667 us) --> Read time : 103.182 us, Update time : 1592.149 us, Write time : 295.136 us + 22.16sWARNros2_control_nodeOverrun might occur, Total time : 1990.467 us (Expected < 1666.667 us) --> Read time : 103.182 us, Update time : 1592.149 us, Write time : 295.136 us[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214469 ms (missed cycles : 3). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214469 ms (missed cycles : 3).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.447435 ms (missed cycles : 6). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.447435 ms (missed cycles : 6).[0m ×2 + 23.64sWARNcontroller_managerOverrun might occur, Total time : 1767.944 us (Expected < 1666.667 us) --> Read time : 175.484 us, Update time : 145.512 us, Write time : 1446.948 us + 23.64sWARNros2_control_nodeOverrun might occur, Total time : 1767.944 us (Expected < 1666.667 us) --> Read time : 175.484 us, Update time : 145.512 us, Write time : 1446.948 us[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832804 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832804 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004043 ms (missed cycles : 2). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004043 ms (missed cycles : 2).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238910 ms (missed cycles : 5). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.238910 ms (missed cycles : 5).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877634 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877634 ms (missed cycles : 2).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431341 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431341 ms (missed cycles : 3).[0m ×2 + 29.54sWARNcontroller_managerOverrun might occur, Total time : 2058.638 us (Expected < 1666.667 us) --> Read time : 142.712 us, Update time : 110.942 us, Write time : 1804.984 us + 29.54sWARNros2_control_nodeOverrun might occur, Total time : 2058.638 us (Expected < 1666.667 us) --> Read time : 142.712 us, Update time : 110.942 us, Write time : 1804.984 us[0m ×2 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538366 ms (missed cycles : 4). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.538366 ms (missed cycles : 4).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333031 ms (missed cycles : 4). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333031 ms (missed cycles : 4).[0m ×2 + 31.77sWARNcontroller_managerOverrun might occur, Total time : 4518.864 us (Expected < 1666.667 us) --> Read time : 122.072 us, Update time : 3931.113 us, Write time : 465.679 us + 31.77sWARNros2_control_nodeOverrun might occur, Total time : 4518.864 us (Expected < 1666.667 us) --> Read time : 122.072 us, Update time : 3931.113 us, Write time : 465.679 us[0m ×2 + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860823 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860823 ms (missed cycles : 2).[0m ×2 + 32.82sWARNcontroller_managerOverrun might occur, Total time : 6074.823 us (Expected < 1666.667 us) --> Read time : 149.333 us, Update time : 5420.101 us, Write time : 505.389 us + 32.82sWARNros2_control_nodeOverrun might occur, Total time : 6074.823 us (Expected < 1666.667 us) --> Read time : 149.333 us, Update time : 5420.101 us, Write time : 505.389 us[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505678 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505678 ms (missed cycles : 3).[0m ×2 + 34.03sWARNcontroller_managerOverrun might occur, Total time : 2058.388 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 1461.277 us, Write time : 460.868 us + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265178 ms (missed cycles : 2). + 34.04sWARNros2_control_nodeOverrun might occur, Total time : 2058.388 us (Expected < 1666.667 us) --> Read time : 136.243 us, Update time : 1461.277 us, Write time : 460.868 us[0m ×2 + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265178 ms (missed cycles : 2).[0m ×2 + 34.87sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894138 ms (missed cycles : 3). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.894138 ms (missed cycles : 3).[0m ×2 + 35.66sWARNcontroller_managerOverrun might occur, Total time : 2131.379 us (Expected < 1666.667 us) --> Read time : 201.743 us, Update time : 180.814 us, Write time : 1748.822 us + 35.66sWARNros2_control_nodeOverrun might occur, Total time : 2131.379 us (Expected < 1666.667 us) --> Read time : 201.743 us, Update time : 180.814 us, Write time : 1748.822 us[0m ×2 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202850 ms (missed cycles : 4). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.202850 ms (missed cycles : 4).[0m ×2 + 37.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454653 ms (missed cycles : 3). + 37.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454653 ms (missed cycles : 3).[0m ×2 + 37.15sWARNcontroller_managerOverrun might occur, Total time : 2360.084 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1814.674 us, Write time : 398.567 us + 37.15sWARNros2_control_nodeOverrun might occur, Total time : 2360.084 us (Expected < 1666.667 us) --> Read time : 146.843 us, Update time : 1814.674 us, Write time : 398.567 us[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119129 ms (missed cycles : 2). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119129 ms (missed cycles : 2).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.439037 ms (missed cycles : 5).[0m ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199425 ms (missed cycles : 2). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199425 ms (missed cycles : 2).[0m ×2 + 40.23sWARNcontroller_managerOverrun might occur, Total time : 1696.471 us (Expected < 1666.667 us) --> Read time : 130.742 us, Update time : 1252.334 us, Write time : 313.395 us + 40.24sWARNros2_control_nodeOverrun might occur, Total time : 1696.471 us (Expected < 1666.667 us) --> Read time : 130.742 us, Update time : 1252.334 us, Write time : 313.395 us[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787066 ms (missed cycles : 3). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787066 ms (missed cycles : 3).[0m ×2 + 41.31sWARNcontroller_managerOverrun might occur, Total time : 1936.346 us (Expected < 1666.667 us) --> Read time : 154.553 us, Update time : 143.822 us, Write time : 1637.971 us + 41.31sWARNros2_control_nodeOverrun might occur, Total time : 1936.346 us (Expected < 1666.667 us) --> Read time : 154.553 us, Update time : 143.822 us, Write time : 1637.971 us[0m ×2 + 42.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546884 ms (missed cycles : 3). + 42.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546884 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun might occur, Total time : 2003.878 us (Expected < 1666.667 us) --> Read time : 292.076 us, Update time : 160.003 us, Write time : 1551.799 us + 43.00sWARNros2_control_nodeOverrun might occur, Total time : 2003.878 us (Expected < 1666.667 us) --> Read time : 292.076 us, Update time : 160.003 us, Write time : 1551.799 us[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244973 ms (missed cycles : 5). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244973 ms (missed cycles : 5).[0m ×2 + 44.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242509 ms (missed cycles : 5). + 44.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.242509 ms (missed cycles : 5).[0m ×2 + 45.11sWARNcontroller_managerOverrun might occur, Total time : 2260.753 us (Expected < 1666.667 us) --> Read time : 158.123 us, Update time : 1680.442 us, Write time : 422.188 us + 45.11sWARNros2_control_nodeOverrun might occur, Total time : 2260.753 us (Expected < 1666.667 us) --> Read time : 158.123 us, Update time : 1680.442 us, Write time : 422.188 us[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748792 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.748792 ms (missed cycles : 3).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481769 ms (missed cycles : 3). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481769 ms (missed cycles : 3).[0m ×2 + 47.11sWARNcontroller_managerOverrun might occur, Total time : 2206.041 us (Expected < 1666.667 us) --> Read time : 867.176 us, Update time : 1024.859 us, Write time : 314.006 us + 47.11sWARNros2_control_nodeOverrun might occur, Total time : 2206.041 us (Expected < 1666.667 us) --> Read time : 867.176 us, Update time : 1024.859 us, Write time : 314.006 us[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427656 ms (missed cycles : 3). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427656 ms (missed cycles : 3).[0m ×2 + 48.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793078 ms (missed cycles : 2). + 48.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793078 ms (missed cycles : 2).[0m ×2 + 48.87sWARNcontroller_managerOverrun might occur, Total time : 2258.852 us (Expected < 1666.667 us) --> Read time : 127.592 us, Update time : 1792.493 us, Write time : 338.767 us + 48.87sWARNros2_control_nodeOverrun might occur, Total time : 2258.852 us (Expected < 1666.667 us) --> Read time : 127.592 us, Update time : 1792.493 us, Write time : 338.767 us[0m ×2 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963956 ms (missed cycles : 3). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963956 ms (missed cycles : 3).[0m ×2 + 50.46sWARNcontroller_managerOverrun might occur, Total time : 5101.895 us (Expected < 1666.667 us) --> Read time : 119.442 us, Update time : 4492.124 us, Write time : 490.329 us + 50.46sWARNros2_control_nodeOverrun might occur, Total time : 5101.895 us (Expected < 1666.667 us) --> Read time : 119.442 us, Update time : 4492.124 us, Write time : 490.329 us[0m ×2 + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737747 ms (missed cycles : 6). + 50.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737747 ms (missed cycles : 6).[0m ×2 + 51.49sWARNcontroller_managerOverrun might occur, Total time : 2946.265 us (Expected < 1666.667 us) --> Read time : 128.192 us, Update time : 2284.923 us, Write time : 533.150 us + 51.49sWARNros2_control_nodeOverrun might occur, Total time : 2946.265 us (Expected < 1666.667 us) --> Read time : 128.192 us, Update time : 2284.923 us, Write time : 533.150 us[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164188 ms (missed cycles : 5). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164188 ms (missed cycles : 5).[0m ×2 + 52.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423395 ms (missed cycles : 4). + 52.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423395 ms (missed cycles : 4).[0m ×2 + 53.19sWARNcontroller_managerOverrun might occur, Total time : 1848.774 us (Expected < 1666.667 us) --> Read time : 117.642 us, Update time : 1420.916 us, Write time : 310.216 us + 53.19sWARNros2_control_nodeOverrun might occur, Total time : 1848.774 us (Expected < 1666.667 us) --> Read time : 117.642 us, Update time : 1420.916 us, Write time : 310.216 us[0m ×2 + 53.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895693 ms (missed cycles : 2). + 53.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895693 ms (missed cycles : 2).[0m ×2 + 54.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180368 ms (missed cycles : 5). + 54.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.180368 ms (missed cycles : 5).[0m ×2 + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139588 ms (missed cycles : 2). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139588 ms (missed cycles : 2).[0m ×2 + 55.71sWARNcontroller_managerOverrun might occur, Total time : 4391.682 us (Expected < 1666.667 us) --> Read time : 123.032 us, Update time : 3878.383 us, Write time : 390.267 us + 55.71sWARNros2_control_nodeOverrun might occur, Total time : 4391.682 us (Expected < 1666.667 us) --> Read time : 123.032 us, Update time : 3878.383 us, Write time : 390.267 us[0m ×2 + 56.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 56.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 57.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 57.80sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 57.80sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 58.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 58.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 59.21sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 59.21sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 59.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 59.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 60.67sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 60.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 61.14sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 61.14sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 61.23sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 61.59sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 61.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 61.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 62.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 62.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.6s | 309 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657412 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657412 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.843808 ms (missed cycles : 6). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.843808 ms (missed cycles : 6).[0m ×2 + 7.67sWARNcontroller_managerOverrun might occur, Total time : 2835.313 us (Expected < 1666.667 us) --> Read time : 134.153 us, Update time : 2359.754 us, Write time : 341.406 us + 7.67sWARNros2_control_nodeOverrun might occur, Total time : 2835.313 us (Expected < 1666.667 us) --> Read time : 134.153 us, Update time : 2359.754 us, Write time : 341.406 us[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570631 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570631 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun might occur, Total time : 1698.962 us (Expected < 1666.667 us) --> Read time : 174.894 us, Update time : 1176.442 us, Write time : 347.626 us + 9.45sWARNros2_control_nodeOverrun might occur, Total time : 1698.962 us (Expected < 1666.667 us) --> Read time : 174.894 us, Update time : 1176.442 us, Write time : 347.626 us[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283879 ms (missed cycles : 5). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.283879 ms (missed cycles : 5).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854741 ms (missed cycles : 4). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.854741 ms (missed cycles : 4).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.596677 ms (missed cycles : 7). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.596677 ms (missed cycles : 7).[0m ×2 + 11.70sWARNcontroller_managerOverrun might occur, Total time : 4716.528 us (Expected < 1666.667 us) --> Read time : 170.614 us, Update time : 4097.346 us, Write time : 448.568 us + 11.70sWARNros2_control_nodeOverrun might occur, Total time : 4716.528 us (Expected < 1666.667 us) --> Read time : 170.614 us, Update time : 4097.346 us, Write time : 448.568 us[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829952 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829952 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun might occur, Total time : 1741.923 us (Expected < 1666.667 us) --> Read time : 393.378 us, Update time : 956.367 us, Write time : 392.178 us + 13.01sWARNros2_control_nodeOverrun might occur, Total time : 1741.923 us (Expected < 1666.667 us) --> Read time : 393.378 us, Update time : 956.367 us, Write time : 392.178 us[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808018 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808018 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun might occur, Total time : 6795.157 us (Expected < 1666.667 us) --> Read time : 147.783 us, Update time : 6073.913 us, Write time : 573.461 us + 14.54sWARNros2_control_nodeOverrun might occur, Total time : 6795.157 us (Expected < 1666.667 us) --> Read time : 147.783 us, Update time : 6073.913 us, Write time : 573.461 us[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935144 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.935144 ms (missed cycles : 2).[0m ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836769 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836769 ms (missed cycles : 2).[0m ×2 + 16.41sWARNcontroller_managerOverrun might occur, Total time : 3968.263 us (Expected < 1666.667 us) --> Read time : 188.123 us, Update time : 154.193 us, Write time : 3625.947 us + 16.41sWARNros2_control_nodeOverrun might occur, Total time : 3968.263 us (Expected < 1666.667 us) --> Read time : 188.123 us, Update time : 154.193 us, Write time : 3625.947 us[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519677 ms (missed cycles : 4). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519677 ms (missed cycles : 4).[0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146887 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146887 ms (missed cycles : 2).[0m ×2 + 17.81sWARNcontroller_managerOverrun might occur, Total time : 1708.112 us (Expected < 1666.667 us) --> Read time : 202.244 us, Update time : 881.186 us, Write time : 624.682 us + 17.81sWARNros2_control_nodeOverrun might occur, Total time : 1708.112 us (Expected < 1666.667 us) --> Read time : 202.244 us, Update time : 881.186 us, Write time : 624.682 us[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474464 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.474464 ms (missed cycles : 3).[0m ×2 + 19.13sWARNcontroller_managerOverrun might occur, Total time : 1939.076 us (Expected < 1666.667 us) --> Read time : 150.842 us, Update time : 608.092 us, Write time : 1180.142 us + 19.13sWARNros2_control_nodeOverrun might occur, Total time : 1939.076 us (Expected < 1666.667 us) --> Read time : 150.842 us, Update time : 608.092 us, Write time : 1180.142 us[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920660 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920660 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun might occur, Total time : 2043.728 us (Expected < 1666.667 us) --> Read time : 158.503 us, Update time : 171.793 us, Write time : 1713.432 us + 20.44sWARNros2_control_nodeOverrun might occur, Total time : 2043.728 us (Expected < 1666.667 us) --> Read time : 158.503 us, Update time : 171.793 us, Write time : 1713.432 us[0m ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400495 ms (missed cycles : 2). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400495 ms (missed cycles : 2).[0m ×2 + 21.89sWARNcontroller_managerOverrun might occur, Total time : 3157.178 us (Expected < 1666.667 us) --> Read time : 184.793 us, Update time : 103.702 us, Write time : 2868.683 us + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759153 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun might occur, Total time : 3157.178 us (Expected < 1666.667 us) --> Read time : 184.793 us, Update time : 103.702 us, Write time : 2868.683 us[0m ×2 + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759153 ms (missed cycles : 3).[0m ×2 + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316484 ms (missed cycles : 5). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316484 ms (missed cycles : 5).[0m ×2 + 23.31sWARNcontroller_managerOverrun might occur, Total time : 2683.140 us (Expected < 1666.667 us) --> Read time : 165.713 us, Update time : 344.716 us, Write time : 2172.711 us + 23.31sWARNros2_control_nodeOverrun might occur, Total time : 2683.140 us (Expected < 1666.667 us) --> Read time : 165.713 us, Update time : 344.716 us, Write time : 2172.711 us[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684513 ms (missed cycles : 2). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684513 ms (missed cycles : 2).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759090 ms (missed cycles : 2). + 25.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759090 ms (missed cycles : 2).[0m ×2 + 25.38sWARNcontroller_managerOverrun might occur, Total time : 4588.936 us (Expected < 1666.667 us) --> Read time : 143.472 us, Update time : 3935.254 us, Write time : 510.210 us + 25.38sWARNros2_control_nodeOverrun might occur, Total time : 4588.936 us (Expected < 1666.667 us) --> Read time : 143.472 us, Update time : 3935.254 us, Write time : 510.210 us[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678251 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678251 ms (missed cycles : 3).[0m ×2 + 26.83sINFOros2_control_nodeMuJoCo sim: 1.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410576 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410576 ms (missed cycles : 2).[0m ×2 + 27.22sWARNcontroller_managerOverrun might occur, Total time : 1976.647 us (Expected < 1666.667 us) --> Read time : 136.003 us, Update time : 1518.338 us, Write time : 322.306 us + 27.22sWARNros2_control_nodeOverrun might occur, Total time : 1976.647 us (Expected < 1666.667 us) --> Read time : 136.003 us, Update time : 1518.338 us, Write time : 322.306 us[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607271 ms (missed cycles : 3). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607271 ms (missed cycles : 3).[0m ×2 + 28.50sWARNcontroller_managerOverrun might occur, Total time : 6840.377 us (Expected < 1666.667 us) --> Read time : 6182.575 us, Update time : 202.763 us, Write time : 455.039 us + 28.50sWARNros2_control_nodeOverrun might occur, Total time : 6840.377 us (Expected < 1666.667 us) --> Read time : 6182.575 us, Update time : 202.763 us, Write time : 455.039 us[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301523 ms (missed cycles : 5). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.301523 ms (missed cycles : 5).[0m ×2 + 29.66sWARNcontroller_managerOverrun might occur, Total time : 2475.096 us (Expected < 1666.667 us) --> Read time : 521.050 us, Update time : 1635.180 us, Write time : 318.866 us + 29.66sWARNros2_control_nodeOverrun might occur, Total time : 2475.096 us (Expected < 1666.667 us) --> Read time : 521.050 us, Update time : 1635.180 us, Write time : 318.866 us[0m ×2 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091965 ms (missed cycles : 4). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091965 ms (missed cycles : 4).[0m ×2 + 30.68sWARNcontroller_managerOverrun might occur, Total time : 1670.471 us (Expected < 1666.667 us) --> Read time : 126.042 us, Update time : 448.858 us, Write time : 1095.571 us + 30.68sWARNros2_control_nodeOverrun might occur, Total time : 1670.471 us (Expected < 1666.667 us) --> Read time : 126.042 us, Update time : 448.858 us, Write time : 1095.571 us[0m ×2 + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069003 ms (missed cycles : 3). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069003 ms (missed cycles : 3).[0m ×2 + 31.84sWARNcontroller_managerOverrun might occur, Total time : 4319.700 us (Expected < 1666.667 us) --> Read time : 165.723 us, Update time : 139.243 us, Write time : 4014.734 us + 31.84sWARNros2_control_nodeOverrun might occur, Total time : 4319.700 us (Expected < 1666.667 us) --> Read time : 165.723 us, Update time : 139.243 us, Write time : 4014.734 us[0m ×2 + 32.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321033 ms (missed cycles : 5). + 32.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321033 ms (missed cycles : 5).[0m ×2 + 32.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211145 ms (missed cycles : 2). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211145 ms (missed cycles : 2).[0m ×2 + 33.63sWARNcontroller_managerOverrun might occur, Total time : 3795.531 us (Expected < 1666.667 us) --> Read time : 150.363 us, Update time : 3303.261 us, Write time : 341.907 us + 33.64sWARNros2_control_nodeOverrun might occur, Total time : 3795.531 us (Expected < 1666.667 us) --> Read time : 150.363 us, Update time : 3303.261 us, Write time : 341.907 us[0m ×2 + 34.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.432295 ms (missed cycles : 7). + 34.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.432295 ms (missed cycles : 7).[0m ×2 + 35.10sWARNcontroller_managerOverrun might occur, Total time : 3825.530 us (Expected < 1666.667 us) --> Read time : 143.552 us, Update time : 3269.731 us, Write time : 412.247 us + 35.10sWARNros2_control_nodeOverrun might occur, Total time : 3825.530 us (Expected < 1666.667 us) --> Read time : 143.552 us, Update time : 3269.731 us, Write time : 412.247 us[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567029 ms (missed cycles : 3). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567029 ms (missed cycles : 3).[0m ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826315 ms (missed cycles : 2). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826315 ms (missed cycles : 2).[0m ×2 + 36.49sWARNcontroller_managerOverrun might occur, Total time : 2175.201 us (Expected < 1666.667 us) --> Read time : 113.952 us, Update time : 353.597 us, Write time : 1707.652 us + 36.49sWARNros2_control_nodeOverrun might occur, Total time : 2175.201 us (Expected < 1666.667 us) --> Read time : 113.952 us, Update time : 353.597 us, Write time : 1707.652 us[0m ×2 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415236 ms (missed cycles : 6). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.415236 ms (missed cycles : 6).[0m ×2 + 37.82sWARNcontroller_managerOverrun might occur, Total time : 3833.681 us (Expected < 1666.667 us) --> Read time : 175.753 us, Update time : 85.872 us, Write time : 3572.056 us + 37.82sWARNros2_control_nodeOverrun might occur, Total time : 3833.681 us (Expected < 1666.667 us) --> Read time : 175.753 us, Update time : 85.872 us, Write time : 3572.056 us[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898230 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898230 ms (missed cycles : 2).[0m ×2 + 38.87sWARNcontroller_managerOverrun might occur, Total time : 1728.822 us (Expected < 1666.667 us) --> Read time : 108.873 us, Update time : 1333.634 us, Write time : 286.315 us + 38.87sWARNros2_control_nodeOverrun might occur, Total time : 1728.822 us (Expected < 1666.667 us) --> Read time : 108.873 us, Update time : 1333.634 us, Write time : 286.315 us[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325559 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325559 ms (missed cycles : 2).[0m ×2 + 40.25sWARNcontroller_managerOverrun might occur, Total time : 4503.544 us (Expected < 1666.667 us) --> Read time : 111.512 us, Update time : 4043.105 us, Write time : 348.927 us + 40.25sWARNros2_control_nodeOverrun might occur, Total time : 4503.544 us (Expected < 1666.667 us) --> Read time : 111.512 us, Update time : 4043.105 us, Write time : 348.927 us[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714954 ms (missed cycles : 2). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.714954 ms (missed cycles : 2).[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202037 ms (missed cycles : 5). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202037 ms (missed cycles : 5).[0m ×2 + 41.79sWARNcontroller_managerOverrun might occur, Total time : 1741.252 us (Expected < 1666.667 us) --> Read time : 754.744 us, Update time : 192.643 us, Write time : 793.865 us + 41.79sWARNros2_control_nodeOverrun might occur, Total time : 1741.252 us (Expected < 1666.667 us) --> Read time : 754.744 us, Update time : 192.643 us, Write time : 793.865 us[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816058 ms (missed cycles : 5). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816058 ms (missed cycles : 5).[0m ×2 + 43.18sWARNcontroller_managerOverrun might occur, Total time : 2511.547 us (Expected < 1666.667 us) --> Read time : 184.053 us, Update time : 175.844 us, Write time : 2151.650 us + 43.19sWARNros2_control_nodeOverrun might occur, Total time : 2511.547 us (Expected < 1666.667 us) --> Read time : 184.053 us, Update time : 175.844 us, Write time : 2151.650 us[0m ×2 + 43.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929559 ms (missed cycles : 2). + 43.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929559 ms (missed cycles : 2).[0m ×2 + 44.61sWARNcontroller_managerOverrun might occur, Total time : 2123.679 us (Expected < 1666.667 us) --> Read time : 1506.818 us, Update time : 202.384 us, Write time : 414.477 us + 44.61sWARNros2_control_nodeOverrun might occur, Total time : 2123.679 us (Expected < 1666.667 us) --> Read time : 1506.818 us, Update time : 202.384 us, Write time : 414.477 us[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327985 ms (missed cycles : 5). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.327985 ms (missed cycles : 5).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469506 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469506 ms (missed cycles : 2).[0m ×2 + 45.83sWARNcontroller_managerOverrun might occur, Total time : 2767.162 us (Expected < 1666.667 us) --> Read time : 138.483 us, Update time : 131.252 us, Write time : 2497.427 us + 45.84sWARNros2_control_nodeOverrun might occur, Total time : 2767.162 us (Expected < 1666.667 us) --> Read time : 138.483 us, Update time : 131.252 us, Write time : 2497.427 us[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.899741 ms (missed cycles : 6). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.899741 ms (missed cycles : 6).[0m ×2 + 47.42sWARNcontroller_managerOverrun might occur, Total time : 2581.407 us (Expected < 1666.667 us) --> Read time : 213.124 us, Update time : 2030.727 us, Write time : 337.556 us + 47.42sWARNros2_control_nodeOverrun might occur, Total time : 2581.407 us (Expected < 1666.667 us) --> Read time : 213.124 us, Update time : 2030.727 us, Write time : 337.556 us[0m ×2 + 47.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454929 ms (missed cycles : 4). + 47.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454929 ms (missed cycles : 4).[0m ×2 + 48.47sWARNcontroller_managerOverrun might occur, Total time : 2953.725 us (Expected < 1666.667 us) --> Read time : 163.403 us, Update time : 2451.636 us, Write time : 338.686 us + 48.47sWARNros2_control_nodeOverrun might occur, Total time : 2953.725 us (Expected < 1666.667 us) --> Read time : 163.403 us, Update time : 2451.636 us, Write time : 338.686 us[0m ×2 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214296 ms (missed cycles : 6). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214296 ms (missed cycles : 6).[0m ×2 + 49.51sWARNcontroller_managerOverrun might occur, Total time : 2679.250 us (Expected < 1666.667 us) --> Read time : 168.273 us, Update time : 2203.961 us, Write time : 307.016 us + 49.51sWARNros2_control_nodeOverrun might occur, Total time : 2679.250 us (Expected < 1666.667 us) --> Read time : 168.273 us, Update time : 2203.961 us, Write time : 307.016 us[0m ×2 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438229 ms (missed cycles : 3). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438229 ms (missed cycles : 3).[0m ×2 + 50.81sWARNcontroller_managerOverrun might occur, Total time : 3669.508 us (Expected < 1666.667 us) --> Read time : 166.653 us, Update time : 153.283 us, Write time : 3349.572 us + 50.81sWARNros2_control_nodeOverrun might occur, Total time : 3669.508 us (Expected < 1666.667 us) --> Read time : 166.653 us, Update time : 153.283 us, Write time : 3349.572 us[0m ×2 + 51.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937390 ms (missed cycles : 3). + 51.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937390 ms (missed cycles : 3).[0m ×2 + 51.90sWARNcontroller_managerOverrun might occur, Total time : 2996.856 us (Expected < 1666.667 us) --> Read time : 139.402 us, Update time : 2507.927 us, Write time : 349.527 us + 51.90sWARNros2_control_nodeOverrun might occur, Total time : 2996.856 us (Expected < 1666.667 us) --> Read time : 139.402 us, Update time : 2507.927 us, Write time : 349.527 us[0m ×2 + 52.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607476 ms (missed cycles : 3). + 52.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607476 ms (missed cycles : 3).[0m ×2 + 53.05sWARNcontroller_managerOverrun might occur, Total time : 1866.074 us (Expected < 1666.667 us) --> Read time : 154.843 us, Update time : 1367.795 us, Write time : 343.436 us + 53.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048083 ms (missed cycles : 2). + 53.06sWARNros2_control_nodeOverrun might occur, Total time : 1866.074 us (Expected < 1666.667 us) --> Read time : 154.843 us, Update time : 1367.795 us, Write time : 343.436 us[0m ×2 + 53.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048083 ms (missed cycles : 2).[0m ×2 + 54.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698364 ms (missed cycles : 2). + 54.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698364 ms (missed cycles : 2).[0m ×2 + 54.44sWARNcontroller_managerOverrun might occur, Total time : 3137.599 us (Expected < 1666.667 us) --> Read time : 220.074 us, Update time : 154.613 us, Write time : 2762.912 us + 54.44sWARNros2_control_nodeOverrun might occur, Total time : 3137.599 us (Expected < 1666.667 us) --> Read time : 220.074 us, Update time : 154.613 us, Write time : 2762.912 us[0m ×2 + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166273 ms (missed cycles : 2). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166273 ms (missed cycles : 2).[0m ×2 + 56.03sWARNcontroller_managerOverrun might occur, Total time : 2084.199 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1594.679 us, Write time : 354.147 us + 56.03sWARNros2_control_nodeOverrun might occur, Total time : 2084.199 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1594.679 us, Write time : 354.147 us[0m ×2 + 56.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947195 ms (missed cycles : 2). + 56.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947195 ms (missed cycles : 2).[0m ×2 + 57.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981075 ms (missed cycles : 5). + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981075 ms (missed cycles : 5).[0m ×2 + 57.38sWARNcontroller_managerOverrun might occur, Total time : 6194.655 us (Expected < 1666.667 us) --> Read time : 213.784 us, Update time : 825.116 us, Write time : 5155.755 us + 57.38sWARNros2_control_nodeOverrun might occur, Total time : 6194.655 us (Expected < 1666.667 us) --> Read time : 213.784 us, Update time : 825.116 us, Write time : 5155.755 us[0m ×2 + 58.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328028 ms (missed cycles : 5). + 58.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328028 ms (missed cycles : 5).[0m ×2 + 58.62sWARNcontroller_managerOverrun might occur, Total time : 6320.858 us (Expected < 1666.667 us) --> Read time : 151.703 us, Update time : 105.692 us, Write time : 6063.463 us + 58.62sWARNros2_control_nodeOverrun might occur, Total time : 6320.858 us (Expected < 1666.667 us) --> Read time : 151.703 us, Update time : 105.692 us, Write time : 6063.463 us[0m ×2 + 58.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781197064.46466231 seconds ×3 + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942004 ms (missed cycles : 2). + 59.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942004 ms (missed cycles : 2).[0m ×2 + 59.43sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781197065.01828337 seconds. ×3 + 59.74sWARNcontroller_managerOverrun might occur, Total time : 1810.413 us (Expected < 1666.667 us) --> Read time : 1352.925 us, Update time : 143.342 us, Write time : 314.146 us + 59.74sWARNros2_control_nodeOverrun might occur, Total time : 1810.413 us (Expected < 1666.667 us) --> Read time : 1352.925 us, Update time : 143.342 us, Write time : 314.146 us[0m ×2 + 59.84sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 59.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384948 ms (missed cycles : 3). + 60.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384948 ms (missed cycles : 3).[0m ×2 + 61.15sWARNcontroller_managerOverrun might occur, Total time : 4466.733 us (Expected < 1666.667 us) --> Read time : 140.683 us, Update time : 3644.807 us, Write time : 681.243 us + 61.15sWARNros2_control_nodeOverrun might occur, Total time : 4466.733 us (Expected < 1666.667 us) --> Read time : 140.683 us, Update time : 3644.807 us, Write time : 681.243 us[0m ×2 + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067750 ms (missed cycles : 2). + 61.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067750 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.2s | 306 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.40sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196872.99565554 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196873.54933858 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5).[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.66sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.66sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.35sWARNcontroller_managerOverrun might occur, Total time : 2811.432 us (Expected < 1666.667 us) --> Read time : 173.683 us, Update time : 2231.712 us, Write time : 406.037 us + 6.35sWARNros2_control_nodeOverrun might occur, Total time : 2811.432 us (Expected < 1666.667 us) --> Read time : 173.683 us, Update time : 2231.712 us, Write time : 406.037 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709619 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709619 ms (missed cycles : 2).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 2160.150 us (Expected < 1666.667 us) --> Read time : 153.282 us, Update time : 1561.810 us, Write time : 445.058 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 2160.150 us (Expected < 1666.667 us) --> Read time : 153.282 us, Update time : 1561.810 us, Write time : 445.058 us[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713515 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713515 ms (missed cycles : 2).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683392 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.683392 ms (missed cycles : 5).[0m ×2 + 8.82sWARNcontroller_managerOverrun might occur, Total time : 1874.895 us (Expected < 1666.667 us) --> Read time : 160.183 us, Update time : 836.285 us, Write time : 878.427 us + 8.82sWARNros2_control_nodeOverrun might occur, Total time : 1874.895 us (Expected < 1666.667 us) --> Read time : 160.183 us, Update time : 836.285 us, Write time : 878.427 us[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876899 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876899 ms (missed cycles : 2).[0m ×2 + 10.04sWARNcontroller_managerOverrun might occur, Total time : 2346.864 us (Expected < 1666.667 us) --> Read time : 185.774 us, Update time : 440.888 us, Write time : 1720.202 us + 10.04sWARNros2_control_nodeOverrun might occur, Total time : 2346.864 us (Expected < 1666.667 us) --> Read time : 185.774 us, Update time : 440.888 us, Write time : 1720.202 us[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811409 ms (missed cycles : 6). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.811409 ms (missed cycles : 6).[0m ×2 + 11.42sWARNcontroller_managerOverrun might occur, Total time : 2626.779 us (Expected < 1666.667 us) --> Read time : 186.643 us, Update time : 1975.267 us, Write time : 464.869 us + 11.42sWARNros2_control_nodeOverrun might occur, Total time : 2626.779 us (Expected < 1666.667 us) --> Read time : 186.643 us, Update time : 1975.267 us, Write time : 464.869 us[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188852 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188852 ms (missed cycles : 4).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952933 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.952933 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun might occur, Total time : 8974.868 us (Expected < 1666.667 us) --> Read time : 174.644 us, Update time : 103.242 us, Write time : 8696.982 us + 12.87sWARNros2_control_nodeOverrun might occur, Total time : 8974.868 us (Expected < 1666.667 us) --> Read time : 174.644 us, Update time : 103.242 us, Write time : 8696.982 us[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652253 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652253 ms (missed cycles : 3).[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257187 ms (missed cycles : 2). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257187 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun might occur, Total time : 2196.121 us (Expected < 1666.667 us) --> Read time : 124.483 us, Update time : 1545.908 us, Write time : 525.730 us + 14.85sWARNros2_control_nodeOverrun might occur, Total time : 2196.121 us (Expected < 1666.667 us) --> Read time : 124.483 us, Update time : 1545.908 us, Write time : 525.730 us[0m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157670 ms (missed cycles : 7). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.157670 ms (missed cycles : 7).[0m ×2 + 16.04sWARNcontroller_managerOverrun might occur, Total time : 2284.923 us (Expected < 1666.667 us) --> Read time : 186.704 us, Update time : 1697.891 us, Write time : 400.328 us + 16.04sWARNros2_control_nodeOverrun might occur, Total time : 2284.923 us (Expected < 1666.667 us) --> Read time : 186.704 us, Update time : 1697.891 us, Write time : 400.328 us[0m ×2 + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112845 ms (missed cycles : 5). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112845 ms (missed cycles : 5).[0m ×2 + 18.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564764 ms (missed cycles : 4). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.564764 ms (missed cycles : 4).[0m ×2 + 18.28sWARNcontroller_managerOverrun might occur, Total time : 2394.795 us (Expected < 1666.667 us) --> Read time : 153.083 us, Update time : 1836.774 us, Write time : 404.938 us + 18.28sWARNros2_control_nodeOverrun might occur, Total time : 2394.795 us (Expected < 1666.667 us) --> Read time : 153.083 us, Update time : 1836.774 us, Write time : 404.938 us[0m ×2 + 19.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077299 ms (missed cycles : 4). + 19.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077299 ms (missed cycles : 4).[0m ×2 + 19.44sWARNcontroller_managerOverrun might occur, Total time : 2453.456 us (Expected < 1666.667 us) --> Read time : 449.479 us, Update time : 722.313 us, Write time : 1281.664 us + 19.44sWARNros2_control_nodeOverrun might occur, Total time : 2453.456 us (Expected < 1666.667 us) --> Read time : 449.479 us, Update time : 722.313 us, Write time : 1281.664 us[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391675 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391675 ms (missed cycles : 3).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157070 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157070 ms (missed cycles : 2).[0m ×2 + 21.26sWARNcontroller_managerOverrun might occur, Total time : 2094.929 us (Expected < 1666.667 us) --> Read time : 1458.177 us, Update time : 174.233 us, Write time : 462.519 us + 21.26sWARNros2_control_nodeOverrun might occur, Total time : 2094.929 us (Expected < 1666.667 us) --> Read time : 1458.177 us, Update time : 174.233 us, Write time : 462.519 us[0m ×2 + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734854 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734854 ms (missed cycles : 2).[0m ×2 + 22.50sWARNcontroller_managerOverrun might occur, Total time : 4517.455 us (Expected < 1666.667 us) --> Read time : 116.383 us, Update time : 4011.615 us, Write time : 389.457 us + 22.50sWARNros2_control_nodeOverrun might occur, Total time : 4517.455 us (Expected < 1666.667 us) --> Read time : 116.383 us, Update time : 4011.615 us, Write time : 389.457 us[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751039 ms (missed cycles : 2). + 23.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751039 ms (missed cycles : 2).[0m ×2 + 24.21sWARNcontroller_managerOverrun might occur, Total time : 1781.033 us (Expected < 1666.667 us) --> Read time : 546.530 us, Update time : 370.837 us, Write time : 863.666 us + 24.21sWARNros2_control_nodeOverrun might occur, Total time : 1781.033 us (Expected < 1666.667 us) --> Read time : 546.530 us, Update time : 370.837 us, Write time : 863.666 us[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632599 ms (missed cycles : 4). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632599 ms (missed cycles : 4).[0m ×2 + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527532 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527532 ms (missed cycles : 3).[0m ×2 + 25.53sWARNcontroller_managerOverrun might occur, Total time : 4909.761 us (Expected < 1666.667 us) --> Read time : 189.504 us, Update time : 4357.760 us, Write time : 362.497 us + 25.53sWARNros2_control_nodeOverrun might occur, Total time : 4909.761 us (Expected < 1666.667 us) --> Read time : 189.504 us, Update time : 4357.760 us, Write time : 362.497 us[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173577 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173577 ms (missed cycles : 2).[0m ×2 + 26.68sWARNcontroller_managerOverrun might occur, Total time : 2292.253 us (Expected < 1666.667 us) --> Read time : 130.902 us, Update time : 1856.675 us, Write time : 304.676 us + 26.68sWARNros2_control_nodeOverrun might occur, Total time : 2292.253 us (Expected < 1666.667 us) --> Read time : 130.902 us, Update time : 1856.675 us, Write time : 304.676 us[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814248 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814248 ms (missed cycles : 2).[0m ×2 + 27.94sWARNcontroller_managerOverrun might occur, Total time : 2223.312 us (Expected < 1666.667 us) --> Read time : 402.818 us, Update time : 326.496 us, Write time : 1493.998 us + 27.94sWARNros2_control_nodeOverrun might occur, Total time : 2223.312 us (Expected < 1666.667 us) --> Read time : 402.818 us, Update time : 326.496 us, Write time : 1493.998 us[0m ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834206 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834206 ms (missed cycles : 2).[0m ×2 + 29.14sWARNcontroller_managerOverrun might occur, Total time : 1876.135 us (Expected < 1666.667 us) --> Read time : 223.534 us, Update time : 1310.075 us, Write time : 342.526 us + 29.14sWARNros2_control_nodeOverrun might occur, Total time : 1876.135 us (Expected < 1666.667 us) --> Read time : 223.534 us, Update time : 1310.075 us, Write time : 342.526 us[0m ×2 + 29.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453116 ms (missed cycles : 4). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.453116 ms (missed cycles : 4).[0m ×2 + 30.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254366 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254366 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun might occur, Total time : 2419.675 us (Expected < 1666.667 us) --> Read time : 132.442 us, Update time : 1958.867 us, Write time : 328.366 us + 30.95sWARNros2_control_nodeOverrun might occur, Total time : 2419.675 us (Expected < 1666.667 us) --> Read time : 132.442 us, Update time : 1958.867 us, Write time : 328.366 us[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052842 ms (missed cycles : 3). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.052842 ms (missed cycles : 3).[0m ×2 + 32.15sWARNcontroller_managerOverrun might occur, Total time : 2712.991 us (Expected < 1666.667 us) --> Read time : 164.773 us, Update time : 121.592 us, Write time : 2426.626 us + 32.15sWARNros2_control_nodeOverrun might occur, Total time : 2712.991 us (Expected < 1666.667 us) --> Read time : 164.773 us, Update time : 121.592 us, Write time : 2426.626 us[0m ×2 + 32.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906690 ms (missed cycles : 2). + 32.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906690 ms (missed cycles : 2).[0m ×2 + 33.36sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839789 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839789 ms (missed cycles : 2).[0m ×2 + 33.52sWARNcontroller_managerOverrun might occur, Total time : 5871.020 us (Expected < 1666.667 us) --> Read time : 266.045 us, Update time : 134.722 us, Write time : 5470.253 us + 33.53sWARNros2_control_nodeOverrun might occur, Total time : 5871.020 us (Expected < 1666.667 us) --> Read time : 266.045 us, Update time : 134.722 us, Write time : 5470.253 us[0m ×2 + 33.99sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079971 ms (missed cycles : 4). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079971 ms (missed cycles : 4).[0m ×2 + 34.94sWARNcontroller_managerOverrun might occur, Total time : 8346.536 us (Expected < 1666.667 us) --> Read time : 104.332 us, Update time : 7779.055 us, Write time : 463.149 us + 34.95sWARNros2_control_nodeOverrun might occur, Total time : 8346.536 us (Expected < 1666.667 us) --> Read time : 104.332 us, Update time : 7779.055 us, Write time : 463.149 us[0m ×2 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778023 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778023 ms (missed cycles : 2).[0m ×2 + 36.29sWARNcontroller_managerOverrun might occur, Total time : 2556.747 us (Expected < 1666.667 us) --> Read time : 212.413 us, Update time : 244.825 us, Write time : 2099.509 us + 36.29sWARNros2_control_nodeOverrun might occur, Total time : 2556.747 us (Expected < 1666.667 us) --> Read time : 212.413 us, Update time : 244.825 us, Write time : 2099.509 us[0m ×2 + 36.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.495071 ms (missed cycles : 7). + 36.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.495071 ms (missed cycles : 7).[0m ×2 + 37.40sWARNcontroller_managerOverrun might occur, Total time : 8015.760 us (Expected < 1666.667 us) --> Read time : 153.873 us, Update time : 526.779 us, Write time : 7335.108 us + 37.40sWARNros2_control_nodeOverrun might occur, Total time : 8015.760 us (Expected < 1666.667 us) --> Read time : 153.873 us, Update time : 526.779 us, Write time : 7335.108 us[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070525 ms (missed cycles : 6). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070525 ms (missed cycles : 6).[0m ×2 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852911 ms (missed cycles : 5). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852911 ms (missed cycles : 5).[0m ×2 + 39.57sWARNcontroller_managerOverrun might occur, Total time : 5517.864 us (Expected < 1666.667 us) --> Read time : 191.364 us, Update time : 183.424 us, Write time : 5143.076 us + 39.57sWARNros2_control_nodeOverrun might occur, Total time : 5517.864 us (Expected < 1666.667 us) --> Read time : 191.364 us, Update time : 183.424 us, Write time : 5143.076 us[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217708 ms (missed cycles : 2). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217708 ms (missed cycles : 2).[0m ×2 + 40.68sWARNcontroller_managerOverrun might occur, Total time : 6153.715 us (Expected < 1666.667 us) --> Read time : 123.893 us, Update time : 5588.403 us, Write time : 441.419 us + 40.68sWARNros2_control_nodeOverrun might occur, Total time : 6153.715 us (Expected < 1666.667 us) --> Read time : 123.893 us, Update time : 5588.403 us, Write time : 441.419 us[0m ×2 + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593452 ms (missed cycles : 2). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593452 ms (missed cycles : 2).[0m ×2 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862098 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862098 ms (missed cycles : 3).[0m ×2 + 42.08sWARNcontroller_managerOverrun might occur, Total time : 3660.488 us (Expected < 1666.667 us) --> Read time : 159.043 us, Update time : 104.792 us, Write time : 3396.653 us + 42.08sWARNros2_control_nodeOverrun might occur, Total time : 3660.488 us (Expected < 1666.667 us) --> Read time : 159.043 us, Update time : 104.792 us, Write time : 3396.653 us[0m ×2 + 42.86sINFOros2_control_nodeMuJoCo sim: 0.95% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558848 ms (missed cycles : 3). + 42.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558848 ms (missed cycles : 3).[0m ×2 + 43.26sWARNcontroller_managerOverrun might occur, Total time : 2485.476 us (Expected < 1666.667 us) --> Read time : 160.833 us, Update time : 235.164 us, Write time : 2089.479 us + 43.26sWARNros2_control_nodeOverrun might occur, Total time : 2485.476 us (Expected < 1666.667 us) --> Read time : 160.833 us, Update time : 235.164 us, Write time : 2089.479 us[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147704 ms (missed cycles : 2). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147704 ms (missed cycles : 2).[0m ×2 + 44.36sWARNcontroller_managerOverrun might occur, Total time : 1805.573 us (Expected < 1666.667 us) --> Read time : 154.052 us, Update time : 1272.944 us, Write time : 378.577 us + 44.36sWARNros2_control_nodeOverrun might occur, Total time : 1805.573 us (Expected < 1666.667 us) --> Read time : 154.052 us, Update time : 1272.944 us, Write time : 378.577 us[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171523 ms (missed cycles : 5). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171523 ms (missed cycles : 5).[0m ×2 + 45.96sWARNcontroller_managerOverrun might occur, Total time : 4937.852 us (Expected < 1666.667 us) --> Read time : 221.974 us, Update time : 4320.701 us, Write time : 395.177 us + 45.97sWARNros2_control_nodeOverrun might occur, Total time : 4937.852 us (Expected < 1666.667 us) --> Read time : 221.974 us, Update time : 4320.701 us, Write time : 395.177 us[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.187379 ms (missed cycles : 6). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.187379 ms (missed cycles : 6).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074141 ms (missed cycles : 2). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074141 ms (missed cycles : 2).[0m ×2 + 47.78sWARNcontroller_managerOverrun might occur, Total time : 7668.862 us (Expected < 1666.667 us) --> Read time : 118.972 us, Update time : 110.962 us, Write time : 7438.928 us + 47.78sWARNros2_control_nodeOverrun might occur, Total time : 7668.862 us (Expected < 1666.667 us) --> Read time : 118.972 us, Update time : 110.962 us, Write time : 7438.928 us[0m ×2 + 48.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049631 ms (missed cycles : 2). + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049631 ms (missed cycles : 2).[0m ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818439 ms (missed cycles : 2). + 49.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818439 ms (missed cycles : 2).[0m ×2 + 50.09sWARNcontroller_managerOverrun might occur, Total time : 1697.491 us (Expected < 1666.667 us) --> Read time : 119.302 us, Update time : 1283.454 us, Write time : 294.735 us + 50.09sWARNros2_control_nodeOverrun might occur, Total time : 1697.491 us (Expected < 1666.667 us) --> Read time : 119.302 us, Update time : 1283.454 us, Write time : 294.735 us[0m ×2 + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189212 ms (missed cycles : 5). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.189212 ms (missed cycles : 5).[0m ×2 + 51.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029322 ms (missed cycles : 3). + 51.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029322 ms (missed cycles : 3).[0m ×2 + 51.59sWARNcontroller_managerOverrun might occur, Total time : 4045.605 us (Expected < 1666.667 us) --> Read time : 216.224 us, Update time : 566.101 us, Write time : 3263.280 us + 51.59sWARNros2_control_nodeOverrun might occur, Total time : 4045.605 us (Expected < 1666.667 us) --> Read time : 216.224 us, Update time : 566.101 us, Write time : 3263.280 us[0m ×2 + 52.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115050 ms (missed cycles : 4). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115050 ms (missed cycles : 4).[0m ×2 + 52.88sWARNcontroller_managerOverrun might occur, Total time : 3564.906 us (Expected < 1666.667 us) --> Read time : 137.323 us, Update time : 95.132 us, Write time : 3332.451 us + 52.88sWARNros2_control_nodeOverrun might occur, Total time : 3564.906 us (Expected < 1666.667 us) --> Read time : 137.323 us, Update time : 95.132 us, Write time : 3332.451 us[0m ×2 + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270018 ms (missed cycles : 2). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270018 ms (missed cycles : 2).[0m ×2 + 54.16sWARNcontroller_managerOverrun might occur, Total time : 2456.936 us (Expected < 1666.667 us) --> Read time : 125.893 us, Update time : 951.928 us, Write time : 1379.115 us + 54.16sWARNros2_control_nodeOverrun might occur, Total time : 2456.936 us (Expected < 1666.667 us) --> Read time : 125.893 us, Update time : 951.928 us, Write time : 1379.115 us[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824882 ms (missed cycles : 2). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824882 ms (missed cycles : 2).[0m ×2 + 55.27sWARNcontroller_managerOverrun might occur, Total time : 2726.581 us (Expected < 1666.667 us) --> Read time : 2128.440 us, Update time : 244.514 us, Write time : 353.627 us + 55.27sWARNros2_control_nodeOverrun might occur, Total time : 2726.581 us (Expected < 1666.667 us) --> Read time : 2128.440 us, Update time : 244.514 us, Write time : 353.627 us[0m ×2 + 55.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454979 ms (missed cycles : 3). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454979 ms (missed cycles : 3).[0m ×2 + 56.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112227 ms (missed cycles : 2). + 56.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112227 ms (missed cycles : 2).[0m ×2 + 56.63sWARNcontroller_managerOverrun might occur, Total time : 2862.044 us (Expected < 1666.667 us) --> Read time : 157.783 us, Update time : 2281.133 us, Write time : 423.128 us + 56.63sWARNros2_control_nodeOverrun might occur, Total time : 2862.044 us (Expected < 1666.667 us) --> Read time : 157.783 us, Update time : 2281.133 us, Write time : 423.128 us[0m ×2 + 57.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021145 ms (missed cycles : 4). + 57.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021145 ms (missed cycles : 4).[0m ×2 + 57.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781196927.22948050 seconds ×3 + 57.80sWARNcontroller_managerOverrun might occur, Total time : 2405.154 us (Expected < 1666.667 us) --> Read time : 187.743 us, Update time : 148.293 us, Write time : 2069.118 us + 57.81sWARNros2_control_nodeOverrun might occur, Total time : 2405.154 us (Expected < 1666.667 us) --> Read time : 187.743 us, Update time : 148.293 us, Write time : 2069.118 us[0m ×2 + 58.22sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781196927.77873111 seconds. ×3 + 58.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933768 ms (missed cycles : 2). + 58.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933768 ms (missed cycles : 2).[0m ×2 + 58.58sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 59.06sWARNcontroller_managerOverrun might occur, Total time : 4352.470 us (Expected < 1666.667 us) --> Read time : 325.096 us, Update time : 337.376 us, Write time : 3689.998 us + 59.06sWARNros2_control_nodeOverrun might occur, Total time : 4352.470 us (Expected < 1666.667 us) --> Read time : 325.096 us, Update time : 337.376 us, Write time : 3689.998 us[0m ×2 + 59.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933626 ms (missed cycles : 2). + 59.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933626 ms (missed cycles : 2).[0m ×2 + 59.85sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827763 ms (missed cycles : 3). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827763 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.8s | 252 warnings · 662 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.07sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.09sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.09sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.11sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.45sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.45sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 0.45sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 0.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 0.84sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.84sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.10sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.10sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.10sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.10sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.10sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.14sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.14sINFOplatform_velocity_controllerconfigure successful + 1.14sINFOros2_control_nodeconfigure successful[0m ×2 + 1.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.15sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 1.80sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 1.80sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.88sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.88sINFOmove_groupClearing octomap...[0m ×2 + 1.88sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 2.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 2.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 3.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 3.44sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 3.44sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 3.72sINFOobjective_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 + 3.73sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.73sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.77sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 3.77sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.77sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.08sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 4.33sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 5.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220907 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220907 ms (missed cycles : 2).[0m ×2 + 6.05sWARNcontroller_managerOverrun might occur, Total time : 3106.238 us (Expected < 1666.667 us) --> Read time : 230.804 us, Update time : 211.084 us, Write time : 2664.350 us + 6.06sWARNros2_control_nodeOverrun might occur, Total time : 3106.238 us (Expected < 1666.667 us) --> Read time : 230.804 us, Update time : 211.084 us, Write time : 2664.350 us[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753435 ms (missed cycles : 3). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753435 ms (missed cycles : 3).[0m ×2 + 7.23sWARNcontroller_managerOverrun might occur, Total time : 1888.595 us (Expected < 1666.667 us) --> Read time : 211.314 us, Update time : 158.823 us, Write time : 1518.458 us + 7.23sWARNros2_control_nodeOverrun might occur, Total time : 1888.595 us (Expected < 1666.667 us) --> Read time : 211.314 us, Update time : 158.823 us, Write time : 1518.458 us[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844528 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844528 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun might occur, Total time : 2520.067 us (Expected < 1666.667 us) --> Read time : 188.923 us, Update time : 1950.587 us, Write time : 380.557 us + 8.66sWARNros2_control_nodeOverrun might occur, Total time : 2520.067 us (Expected < 1666.667 us) --> Read time : 188.923 us, Update time : 1950.587 us, Write time : 380.557 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786483 ms (missed cycles : 3). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786483 ms (missed cycles : 3).[0m ×2 + 9.66sWARNcontroller_managerOverrun might occur, Total time : 2164.901 us (Expected < 1666.667 us) --> Read time : 113.842 us, Update time : 1546.859 us, Write time : 504.200 us + 9.66sWARNros2_control_nodeOverrun might occur, Total time : 2164.901 us (Expected < 1666.667 us) --> Read time : 113.842 us, Update time : 1546.859 us, Write time : 504.200 us[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994293 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994293 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614371 ms (missed cycles : 7). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.614371 ms (missed cycles : 7).[0m ×2 + 12.26sWARNcontroller_managerOverrun might occur, Total time : 3639.278 us (Expected < 1666.667 us) --> Read time : 230.205 us, Update time : 147.352 us, Write time : 3261.721 us + 12.26sWARNros2_control_nodeOverrun might occur, Total time : 3639.278 us (Expected < 1666.667 us) --> Read time : 230.205 us, Update time : 147.352 us, Write time : 3261.721 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813874 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.813874 ms (missed cycles : 3).[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115138 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115138 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun might occur, Total time : 4333.341 us (Expected < 1666.667 us) --> Read time : 188.684 us, Update time : 3705.999 us, Write time : 438.658 us + 13.96sWARNros2_control_nodeOverrun might occur, Total time : 4333.341 us (Expected < 1666.667 us) --> Read time : 188.684 us, Update time : 3705.999 us, Write time : 438.658 us[0m ×2 + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218891 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218891 ms (missed cycles : 2).[0m ×2 + 15.02sWARNcontroller_managerOverrun might occur, Total time : 2974.415 us (Expected < 1666.667 us) --> Read time : 165.583 us, Update time : 2410.094 us, Write time : 398.738 us + 15.02sWARNros2_control_nodeOverrun might occur, Total time : 2974.415 us (Expected < 1666.667 us) --> Read time : 165.583 us, Update time : 2410.094 us, Write time : 398.738 us[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681033 ms (missed cycles : 4). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681033 ms (missed cycles : 4).[0m ×2 + 16.10sWARNcontroller_managerOverrun might occur, Total time : 2252.812 us (Expected < 1666.667 us) --> Read time : 119.722 us, Update time : 169.293 us, Write time : 1963.797 us + 16.10sWARNros2_control_nodeOverrun might occur, Total time : 2252.812 us (Expected < 1666.667 us) --> Read time : 119.722 us, Update time : 169.293 us, Write time : 1963.797 us[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735221 ms (missed cycles : 2). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735221 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun might occur, Total time : 2480.956 us (Expected < 1666.667 us) --> Read time : 135.723 us, Update time : 1930.955 us, Write time : 414.278 us + 17.16sWARNros2_control_nodeOverrun might occur, Total time : 2480.956 us (Expected < 1666.667 us) --> Read time : 135.723 us, Update time : 1930.955 us, Write time : 414.278 us[0m ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915981 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915981 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun might occur, Total time : 3953.994 us (Expected < 1666.667 us) --> Read time : 3381.043 us, Update time : 164.193 us, Write time : 408.758 us + 18.16sWARNros2_control_nodeOverrun might occur, Total time : 3953.994 us (Expected < 1666.667 us) --> Read time : 3381.043 us, Update time : 164.193 us, Write time : 408.758 us[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810380 ms (missed cycles : 2). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810380 ms (missed cycles : 2).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712278 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712278 ms (missed cycles : 3).[0m ×2 + 19.79sWARNcontroller_managerOverrun might occur, Total time : 1749.733 us (Expected < 1666.667 us) --> Read time : 126.043 us, Update time : 811.705 us, Write time : 811.985 us + 19.79sWARNros2_control_nodeOverrun might occur, Total time : 1749.733 us (Expected < 1666.667 us) --> Read time : 126.043 us, Update time : 811.705 us, Write time : 811.985 us[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287247 ms (missed cycles : 5). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.287247 ms (missed cycles : 5).[0m ×2 + 20.79sWARNcontroller_managerOverrun might occur, Total time : 2407.974 us (Expected < 1666.667 us) --> Read time : 172.953 us, Update time : 472.219 us, Write time : 1762.802 us + 20.79sWARNros2_control_nodeOverrun might occur, Total time : 2407.974 us (Expected < 1666.667 us) --> Read time : 172.953 us, Update time : 472.219 us, Write time : 1762.802 us[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853205 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853205 ms (missed cycles : 2).[0m ×2 + 21.94sWARNcontroller_managerOverrun might occur, Total time : 6982.011 us (Expected < 1666.667 us) --> Read time : 162.643 us, Update time : 88.282 us, Write time : 6731.086 us + 21.94sWARNros2_control_nodeOverrun might occur, Total time : 6982.011 us (Expected < 1666.667 us) --> Read time : 162.643 us, Update time : 88.282 us, Write time : 6731.086 us[0m ×2 + 22.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487405 ms (missed cycles : 4). + 22.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.487405 ms (missed cycles : 4).[0m ×2 + 23.31sWARNcontroller_managerOverrun might occur, Total time : 2047.079 us (Expected < 1666.667 us) --> Read time : 147.773 us, Update time : 110.902 us, Write time : 1788.404 us + 23.31sWARNros2_control_nodeOverrun might occur, Total time : 2047.079 us (Expected < 1666.667 us) --> Read time : 147.773 us, Update time : 110.902 us, Write time : 1788.404 us[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728415 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728415 ms (missed cycles : 3).[0m ×2 + 24.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654088 ms (missed cycles : 4). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.654088 ms (missed cycles : 4).[0m ×2 + 25.70sWARNcontroller_managerOverrun might occur, Total time : 2965.865 us (Expected < 1666.667 us) --> Read time : 137.432 us, Update time : 2174.950 us, Write time : 653.483 us + 25.70sWARNros2_control_nodeOverrun might occur, Total time : 2965.865 us (Expected < 1666.667 us) --> Read time : 137.432 us, Update time : 2174.950 us, Write time : 653.483 us[0m ×2 + 25.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981658 ms (missed cycles : 2). + 25.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981658 ms (missed cycles : 2).[0m ×2 + 26.76sWARNcontroller_managerOverrun might occur, Total time : 1948.296 us (Expected < 1666.667 us) --> Read time : 1478.398 us, Update time : 142.032 us, Write time : 327.866 us + 26.76sWARNros2_control_nodeOverrun might occur, Total time : 1948.296 us (Expected < 1666.667 us) --> Read time : 1478.398 us, Update time : 142.032 us, Write time : 327.866 us[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417311 ms (missed cycles : 3). + 27.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417311 ms (missed cycles : 3).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860437 ms (missed cycles : 6). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.860437 ms (missed cycles : 6).[0m ×2 + 28.41sWARNcontroller_managerOverrun might occur, Total time : 1894.036 us (Expected < 1666.667 us) --> Read time : 254.225 us, Update time : 938.638 us, Write time : 701.173 us + 28.41sWARNros2_control_nodeOverrun might occur, Total time : 1894.036 us (Expected < 1666.667 us) --> Read time : 254.225 us, Update time : 938.638 us, Write time : 701.173 us[0m ×2 + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383524 ms (missed cycles : 2). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383524 ms (missed cycles : 2).[0m ×2 + 30.20sWARNcontroller_managerOverrun might occur, Total time : 2426.575 us (Expected < 1666.667 us) --> Read time : 136.022 us, Update time : 1920.036 us, Write time : 370.517 us + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607608 ms (missed cycles : 2). + 30.21sWARNros2_control_nodeOverrun might occur, Total time : 2426.575 us (Expected < 1666.667 us) --> Read time : 136.022 us, Update time : 1920.036 us, Write time : 370.517 us[0m ×2 + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607608 ms (missed cycles : 2).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820245 ms (missed cycles : 2). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820245 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun might occur, Total time : 1825.204 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 123.482 us, Write time : 1503.038 us + 31.59sWARNros2_control_nodeOverrun might occur, Total time : 1825.204 us (Expected < 1666.667 us) --> Read time : 198.684 us, Update time : 123.482 us, Write time : 1503.038 us[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.596967 ms (missed cycles : 4). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.596967 ms (missed cycles : 4).[0m ×2 + 33.22sWARNcontroller_managerOverrun might occur, Total time : 2860.283 us (Expected < 1666.667 us) --> Read time : 156.173 us, Update time : 2028.518 us, Write time : 675.592 us + 33.22sWARNros2_control_nodeOverrun might occur, Total time : 2860.283 us (Expected < 1666.667 us) --> Read time : 156.173 us, Update time : 2028.518 us, Write time : 675.592 us[0m ×2 + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727383 ms (missed cycles : 2). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727383 ms (missed cycles : 2).[0m ×2 + 34.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438510 ms (missed cycles : 4). + 34.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.438510 ms (missed cycles : 4).[0m ×2 + 34.74sWARNcontroller_managerOverrun might occur, Total time : 1704.852 us (Expected < 1666.667 us) --> Read time : 372.007 us, Update time : 449.639 us, Write time : 883.206 us + 34.74sWARNros2_control_nodeOverrun might occur, Total time : 1704.852 us (Expected < 1666.667 us) --> Read time : 372.007 us, Update time : 449.639 us, Write time : 883.206 us[0m ×2 + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512556 ms (missed cycles : 3). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512556 ms (missed cycles : 3).[0m ×2 + 35.79sWARNcontroller_managerOverrun might occur, Total time : 2213.741 us (Expected < 1666.667 us) --> Read time : 153.373 us, Update time : 1706.252 us, Write time : 354.116 us + 35.79sWARNros2_control_nodeOverrun might occur, Total time : 2213.741 us (Expected < 1666.667 us) --> Read time : 153.373 us, Update time : 1706.252 us, Write time : 354.116 us[0m ×2 + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774483 ms (missed cycles : 5). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.774483 ms (missed cycles : 5).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061409 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.061409 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun might occur, Total time : 6106.265 us (Expected < 1666.667 us) --> Read time : 162.854 us, Update time : 5547.813 us, Write time : 395.598 us + 37.70sWARNros2_control_nodeOverrun might occur, Total time : 6106.265 us (Expected < 1666.667 us) --> Read time : 162.854 us, Update time : 5547.813 us, Write time : 395.598 us[0m ×2 + 38.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.435905 ms (missed cycles : 5). + 38.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.435905 ms (missed cycles : 5).[0m ×2 + 38.84sWARNcontroller_managerOverrun might occur, Total time : 3991.254 us (Expected < 1666.667 us) --> Read time : 167.103 us, Update time : 80.141 us, Write time : 3744.010 us + 38.84sWARNros2_control_nodeOverrun might occur, Total time : 3991.254 us (Expected < 1666.667 us) --> Read time : 167.103 us, Update time : 80.141 us, Write time : 3744.010 us[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144765 ms (missed cycles : 3). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144765 ms (missed cycles : 3).[0m ×2 + 39.91sWARNcontroller_managerOverrun might occur, Total time : 2280.483 us (Expected < 1666.667 us) --> Read time : 164.743 us, Update time : 127.813 us, Write time : 1987.927 us + 39.91sWARNros2_control_nodeOverrun might occur, Total time : 2280.483 us (Expected < 1666.667 us) --> Read time : 164.743 us, Update time : 127.813 us, Write time : 1987.927 us[0m ×2 + 40.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729659 ms (missed cycles : 2). + 40.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729659 ms (missed cycles : 2).[0m ×2 + 41.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242549 ms (missed cycles : 2). + 41.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242549 ms (missed cycles : 2).[0m ×2 + 41.88sWARNcontroller_managerOverrun might occur, Total time : 1940.627 us (Expected < 1666.667 us) --> Read time : 137.903 us, Update time : 742.084 us, Write time : 1060.640 us + 41.88sWARNros2_control_nodeOverrun might occur, Total time : 1940.627 us (Expected < 1666.667 us) --> Read time : 137.903 us, Update time : 742.084 us, Write time : 1060.640 us[0m ×2 + 42.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545661 ms (missed cycles : 4). + 42.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545661 ms (missed cycles : 4).[0m ×2 + 43.28sWARNcontroller_managerOverrun might occur, Total time : 3082.248 us (Expected < 1666.667 us) --> Read time : 370.017 us, Update time : 312.386 us, Write time : 2399.845 us + 43.28sWARNros2_control_nodeOverrun might occur, Total time : 3082.248 us (Expected < 1666.667 us) --> Read time : 370.017 us, Update time : 312.386 us, Write time : 2399.845 us[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2).[0m ×2 + 44.54sWARNcontroller_managerOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us + 44.54sWARNros2_control_nodeOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3).[0m ×2 + 45.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3). + 45.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3).[0m ×2 + 46.43sWARNcontroller_managerOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us + 46.43sWARNros2_control_nodeOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2).[0m ×2 + 47.54sINFOjoint_trajectory_controllerGoal reached, success! + 47.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 47.82sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 47.82sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 47.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 48.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 48.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 48.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 49.08sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 49.08sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.59sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 49.59sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 50.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 186 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 + 0.61sWARNcontroller_managerOverrun might occur, Total time : 2127.260 us (Expected < 1666.667 us) --> Read time : 266.585 us, Update time : 1523.068 us, Write time : 337.607 us + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 2127.260 us (Expected < 1666.667 us) --> Read time : 266.585 us, Update time : 1523.068 us, Write time : 337.607 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381412 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381412 ms (missed cycles : 3).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 2016.647 us (Expected < 1666.667 us) --> Read time : 143.802 us, Update time : 1567.970 us, Write time : 304.875 us + 1.85sWARNros2_control_nodeOverrun might occur, Total time : 2016.647 us (Expected < 1666.667 us) --> Read time : 143.802 us, Update time : 1567.970 us, Write time : 304.875 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309251 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309251 ms (missed cycles : 5).[0m ×2 + 2.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.27sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.30sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781196841.13876557 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584625 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584625 ms (missed cycles : 4).[0m ×2 + 3.14sWARNcontroller_managerOverrun might occur, Total time : 1744.372 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 110.842 us, Write time : 1494.187 us + 3.14sWARNros2_control_nodeOverrun might occur, Total time : 1744.372 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 110.842 us, Write time : 1494.187 us[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781196842.68548846 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436933 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436933 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.53sWARNcontroller_managerOverrun might occur, Total time : 4530.814 us (Expected < 1666.667 us) --> Read time : 143.282 us, Update time : 3955.614 us, Write time : 431.918 us + 4.54sWARNros2_control_nodeOverrun might occur, Total time : 4530.814 us (Expected < 1666.667 us) --> Read time : 143.282 us, Update time : 3955.614 us, Write time : 431.918 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831726 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831726 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 1749.482 us (Expected < 1666.667 us) --> Read time : 156.803 us, Update time : 652.432 us, Write time : 940.247 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 1749.482 us (Expected < 1666.667 us) --> Read time : 156.803 us, Update time : 652.432 us, Write time : 940.247 us[0m ×2 + 5.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760848 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760848 ms (missed cycles : 3).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242040 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242040 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun might occur, Total time : 2770.852 us (Expected < 1666.667 us) --> Read time : 146.893 us, Update time : 57.921 us, Write time : 2566.038 us + 7.30sWARNros2_control_nodeOverrun might occur, Total time : 2770.852 us (Expected < 1666.667 us) --> Read time : 146.893 us, Update time : 57.921 us, Write time : 2566.038 us[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102886 ms (missed cycles : 3). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.102886 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun might occur, Total time : 1792.324 us (Expected < 1666.667 us) --> Read time : 207.864 us, Update time : 1283.864 us, Write time : 300.596 us + 8.71sWARNros2_control_nodeOverrun might occur, Total time : 1792.324 us (Expected < 1666.667 us) --> Read time : 207.864 us, Update time : 1283.864 us, Write time : 300.596 us[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195289 ms (missed cycles : 5). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.195289 ms (missed cycles : 5).[0m ×2 + 9.83sWARNcontroller_managerOverrun might occur, Total time : 1734.932 us (Expected < 1666.667 us) --> Read time : 188.873 us, Update time : 124.083 us, Write time : 1421.976 us + 9.84sWARNros2_control_nodeOverrun might occur, Total time : 1734.932 us (Expected < 1666.667 us) --> Read time : 188.873 us, Update time : 124.083 us, Write time : 1421.976 us[0m ×2 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150946 ms (missed cycles : 2). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.150946 ms (missed cycles : 2).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836013 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836013 ms (missed cycles : 3).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201434 ms (missed cycles : 2). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201434 ms (missed cycles : 2).[0m ×2 + 13.08sWARNcontroller_managerOverrun might occur, Total time : 1853.505 us (Expected < 1666.667 us) --> Read time : 126.233 us, Update time : 1434.786 us, Write time : 292.486 us + 13.08sWARNros2_control_nodeOverrun might occur, Total time : 1853.505 us (Expected < 1666.667 us) --> Read time : 126.233 us, Update time : 1434.786 us, Write time : 292.486 us[0m ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447388 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447388 ms (missed cycles : 3).[0m ×2 + 13.57sINFOros2_control_nodeMuJoCo sim: 0.93% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.14sWARNcontroller_managerOverrun might occur, Total time : 2150.400 us (Expected < 1666.667 us) --> Read time : 218.164 us, Update time : 126.753 us, Write time : 1805.483 us + 14.14sWARNros2_control_nodeOverrun might occur, Total time : 2150.400 us (Expected < 1666.667 us) --> Read time : 218.164 us, Update time : 126.753 us, Write time : 1805.483 us[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694310 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694310 ms (missed cycles : 2).[0m ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.494613 ms (missed cycles : 6). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.494613 ms (missed cycles : 6).[0m ×2 + 16.00sWARNcontroller_managerOverrun might occur, Total time : 2694.010 us (Expected < 1666.667 us) --> Read time : 155.373 us, Update time : 591.551 us, Write time : 1947.086 us + 16.00sWARNros2_control_nodeOverrun might occur, Total time : 2694.010 us (Expected < 1666.667 us) --> Read time : 155.373 us, Update time : 591.551 us, Write time : 1947.086 us[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803994 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803994 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun might occur, Total time : 1721.392 us (Expected < 1666.667 us) --> Read time : 312.786 us, Update time : 872.226 us, Write time : 536.380 us + 17.21sWARNros2_control_nodeOverrun might occur, Total time : 1721.392 us (Expected < 1666.667 us) --> Read time : 312.786 us, Update time : 872.226 us, Write time : 536.380 us[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261294 ms (missed cycles : 4). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261294 ms (missed cycles : 4).[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010566 ms (missed cycles : 4). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010566 ms (missed cycles : 4).[0m ×2 + 18.60sWARNcontroller_managerOverrun might occur, Total time : 3899.763 us (Expected < 1666.667 us) --> Read time : 160.903 us, Update time : 163.763 us, Write time : 3575.097 us + 18.61sWARNros2_control_nodeOverrun might occur, Total time : 3899.763 us (Expected < 1666.667 us) --> Read time : 160.903 us, Update time : 163.763 us, Write time : 3575.097 us[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103787 ms (missed cycles : 3). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103787 ms (missed cycles : 3).[0m ×2 + 19.89sWARNcontroller_managerOverrun might occur, Total time : 6568.973 us (Expected < 1666.667 us) --> Read time : 277.526 us, Update time : 153.183 us, Write time : 6138.264 us + 19.89sWARNros2_control_nodeOverrun might occur, Total time : 6568.973 us (Expected < 1666.667 us) --> Read time : 277.526 us, Update time : 153.183 us, Write time : 6138.264 us[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756863 ms (missed cycles : 3). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756863 ms (missed cycles : 3).[0m ×2 + 21.00sWARNcontroller_managerOverrun might occur, Total time : 2300.823 us (Expected < 1666.667 us) --> Read time : 233.634 us, Update time : 1741.553 us, Write time : 325.636 us + 21.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.823 us (Expected < 1666.667 us) --> Read time : 233.634 us, Update time : 1741.553 us, Write time : 325.636 us[0m ×2 + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565553 ms (missed cycles : 4). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565553 ms (missed cycles : 4).[0m ×2 + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282860 ms (missed cycles : 2). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282860 ms (missed cycles : 2).[0m ×2 + 22.89sWARNcontroller_managerOverrun might occur, Total time : 2530.697 us (Expected < 1666.667 us) --> Read time : 133.742 us, Update time : 503.479 us, Write time : 1893.476 us + 22.90sWARNros2_control_nodeOverrun might occur, Total time : 2530.697 us (Expected < 1666.667 us) --> Read time : 133.742 us, Update time : 503.479 us, Write time : 1893.476 us[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981062 ms (missed cycles : 3). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981062 ms (missed cycles : 3).[0m ×2 + 24.02sWARNcontroller_managerOverrun might occur, Total time : 3773.380 us (Expected < 1666.667 us) --> Read time : 141.012 us, Update time : 3317.192 us, Write time : 315.176 us + 24.02sWARNros2_control_nodeOverrun might occur, Total time : 3773.380 us (Expected < 1666.667 us) --> Read time : 141.012 us, Update time : 3317.192 us, Write time : 315.176 us[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351201 ms (missed cycles : 4). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351201 ms (missed cycles : 4).[0m ×2 + 25.39sWARNcontroller_managerOverrun might occur, Total time : 2914.945 us (Expected < 1666.667 us) --> Read time : 161.683 us, Update time : 2434.136 us, Write time : 319.126 us + 25.39sWARNros2_control_nodeOverrun might occur, Total time : 2914.945 us (Expected < 1666.667 us) --> Read time : 161.683 us, Update time : 2434.136 us, Write time : 319.126 us[0m ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659096 ms (missed cycles : 2). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659096 ms (missed cycles : 2).[0m ×2 + 26.74sWARNcontroller_managerOverrun might occur, Total time : 2488.097 us (Expected < 1666.667 us) --> Read time : 1968.797 us, Update time : 160.943 us, Write time : 358.357 us + 26.74sWARNros2_control_nodeOverrun might occur, Total time : 2488.097 us (Expected < 1666.667 us) --> Read time : 1968.797 us, Update time : 160.943 us, Write time : 358.357 us[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134659 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.134659 ms (missed cycles : 2).[0m ×2 + 27.81sWARNcontroller_managerOverrun might occur, Total time : 5546.614 us (Expected < 1666.667 us) --> Read time : 185.694 us, Update time : 144.592 us, Write time : 5216.328 us + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826160 ms (missed cycles : 4). + 27.81sWARNros2_control_nodeOverrun might occur, Total time : 5546.614 us (Expected < 1666.667 us) --> Read time : 185.694 us, Update time : 144.592 us, Write time : 5216.328 us[0m ×2 + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826160 ms (missed cycles : 4).[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791780 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791780 ms (missed cycles : 2).[0m ×2 + 29.35sWARNcontroller_managerOverrun might occur, Total time : 2420.635 us (Expected < 1666.667 us) --> Read time : 1881.055 us, Update time : 172.633 us, Write time : 366.947 us + 29.35sWARNros2_control_nodeOverrun might occur, Total time : 2420.635 us (Expected < 1666.667 us) --> Read time : 1881.055 us, Update time : 172.633 us, Write time : 366.947 us[0m ×2 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271234 ms (missed cycles : 2). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271234 ms (missed cycles : 2).[0m ×2 + 30.72sWARNcontroller_managerOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us + 30.72sWARNros2_control_nodeOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us[0m ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3).[0m ×2 + 31.87sWARNcontroller_managerOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us + 31.87sWARNros2_control_nodeOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us[0m ×2 + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3).[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2).[0m ×2 + 33.09sWARNcontroller_managerOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us + 33.10sWARNros2_control_nodeOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us[0m ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2).[0m ×2 + 34.16sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196872.99565554 seconds ×3 + 34.33sWARNcontroller_managerOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us + 34.33sWARNros2_control_nodeOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us[0m ×2 + 34.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196873.54933858 seconds. ×3 + 35.05sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5).[0m ×2 + 35.50sWARNcontroller_managerOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us + 35.50sWARNros2_control_nodeOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2).[0m ×2 + 36.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 96 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166273 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166273 ms (missed cycles : 2).[0m ×2 + 0.91sWARNcontroller_managerOverrun might occur, Total time : 2084.199 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1594.679 us, Write time : 354.147 us + 0.91sWARNros2_control_nodeOverrun might occur, Total time : 2084.199 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1594.679 us, Write time : 354.147 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947195 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947195 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981075 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.981075 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 6194.655 us (Expected < 1666.667 us) --> Read time : 213.784 us, Update time : 825.116 us, Write time : 5155.755 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 6194.655 us (Expected < 1666.667 us) --> Read time : 213.784 us, Update time : 825.116 us, Write time : 5155.755 us[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328028 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328028 ms (missed cycles : 5).[0m ×2 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 6320.858 us (Expected < 1666.667 us) --> Read time : 151.703 us, Update time : 105.692 us, Write time : 6063.463 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 6320.858 us (Expected < 1666.667 us) --> Read time : 151.703 us, Update time : 105.692 us, Write time : 6063.463 us[0m ×2 + 3.73sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.73sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781197064.46466231 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942004 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942004 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781197065.01828337 seconds. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.62sWARNcontroller_managerOverrun might occur, Total time : 1810.413 us (Expected < 1666.667 us) --> Read time : 1352.925 us, Update time : 143.342 us, Write time : 314.146 us + 4.63sWARNros2_control_nodeOverrun might occur, Total time : 1810.413 us (Expected < 1666.667 us) --> Read time : 1352.925 us, Update time : 143.342 us, Write time : 314.146 us[0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384948 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384948 ms (missed cycles : 3).[0m ×2 + 6.03sWARNcontroller_managerOverrun might occur, Total time : 4466.733 us (Expected < 1666.667 us) --> Read time : 140.683 us, Update time : 3644.807 us, Write time : 681.243 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 4466.733 us (Expected < 1666.667 us) --> Read time : 140.683 us, Update time : 3644.807 us, Write time : 681.243 us[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067750 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067750 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047917 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047917 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun might occur, Total time : 2299.604 us (Expected < 1666.667 us) --> Read time : 232.735 us, Update time : 1686.191 us, Write time : 380.678 us + 7.91sWARNros2_control_nodeOverrun might occur, Total time : 2299.604 us (Expected < 1666.667 us) --> Read time : 232.735 us, Update time : 1686.191 us, Write time : 380.678 us[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719932 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719932 ms (missed cycles : 2).[0m ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (6.8e-07 s). ×2 + 9.26sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.29sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 9.34sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.39sINFOobjective_server_nodeFound path in 0 iterations (1.07e-06 s). ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697035 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697035 ms (missed cycles : 3).[0m ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.55sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.78sINFOobjective_server_nodeFound path in 69 iterations (0.049165 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 10.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.45sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944979 ms (missed cycles : 4). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944979 ms (missed cycles : 4).[0m ×2 + 10.78sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.81sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.30sWARNcontroller_managerOverrun might occur, Total time : 2718.780 us (Expected < 1666.667 us) --> Read time : 224.954 us, Update time : 2107.939 us, Write time : 385.887 us + 11.30sWARNros2_control_nodeOverrun might occur, Total time : 2718.780 us (Expected < 1666.667 us) --> Read time : 224.954 us, Update time : 2107.939 us, Write time : 385.887 us[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820557 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820557 ms (missed cycles : 4).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139183 ms (missed cycles : 3). + 12.58sWARNcontroller_managerOverrun might occur, Total time : 2065.618 us (Expected < 1666.667 us) --> Read time : 125.372 us, Update time : 1593.510 us, Write time : 346.736 us + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139183 ms (missed cycles : 3).[0m ×2 + 12.59sWARNros2_control_nodeOverrun might occur, Total time : 2065.618 us (Expected < 1666.667 us) --> Read time : 125.372 us, Update time : 1593.510 us, Write time : 346.736 us[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4).[0m ×2 + 13.87sWARNcontroller_managerOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us + 13.87sWARNros2_control_nodeOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us + 14.96sWARNros2_control_nodeOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us[0m ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2).[0m ×2 + 15.99sWARNcontroller_managerOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us + 15.99sWARNros2_control_nodeOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2).[0m ×2 + 16.81sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197077.51347876 seconds ×3 + 17.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197078.09649086 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 + 17.51sWARNcontroller_managerOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us + 17.51sWARNros2_control_nodeOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7).[0m ×2 + 18.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197078.89666700 seconds ×3 + 18.57sWARNcontroller_managerOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us + 18.58sWARNros2_control_nodeOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us[0m ×2 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2).[0m ×2 + 18.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197079.44145465 seconds. ×3 + 19.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197079.90166688 seconds ×3 + 19.44sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 66 errors · 60 warnings · 359 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2).[0m ×2 + 0.27sWARNcontroller_managerOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us + 0.27sWARNros2_control_nodeOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us + 1.31sWARNros2_control_nodeOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2).[0m ×2 + 2.09sINFOjoint_trajectory_controllerGoal reached, success! + 2.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197077.51347876 seconds ×3 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197078.09649086 seconds. ×3 + 2.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.72sINFOmove_groupClearing octomap...[0m ×2 + 2.72sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us[0m ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197078.89666700 seconds ×3 + 3.89sWARNcontroller_managerOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us + 3.89sWARNros2_control_nodeOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197079.44145465 seconds. ×3 + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197079.90166688 seconds ×3 + 4.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.01sWARNcontroller_managerOverrun might occur, Total time : 2117.119 us (Expected < 1666.667 us) --> Read time : 248.044 us, Update time : 1500.228 us, Write time : 368.847 us + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020114 ms (missed cycles : 3). + 5.95sWARNros2_control_nodeOverrun might occur, Total time : 2117.119 us (Expected < 1666.667 us) --> Read time : 248.044 us, Update time : 1500.228 us, Write time : 368.847 us[0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020114 ms (missed cycles : 3).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008793 ms (missed cycles : 7). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008793 ms (missed cycles : 7).[0m ×2 + 6.46sWARNcontroller_managerOverrun might occur, Total time : 2211.301 us (Expected < 1666.667 us) --> Read time : 132.873 us, Update time : 1802.033 us, Write time : 276.395 us + 6.46sWARNros2_control_nodeOverrun might occur, Total time : 2211.301 us (Expected < 1666.667 us) --> Read time : 132.873 us, Update time : 1802.033 us, Write time : 276.395 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591186 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591186 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035390 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.035390 ms (missed cycles : 3).[0m ×2 + 8.56sWARNcontroller_managerOverrun might occur, Total time : 3340.583 us (Expected < 1666.667 us) --> Read time : 152.923 us, Update time : 2840.213 us, Write time : 347.447 us + 8.56sWARNros2_control_nodeOverrun might occur, Total time : 3340.583 us (Expected < 1666.667 us) --> Read time : 152.923 us, Update time : 2840.213 us, Write time : 347.447 us[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993020 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993020 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun might occur, Total time : 2342.805 us (Expected < 1666.667 us) --> Read time : 1880.556 us, Update time : 116.582 us, Write time : 345.667 us + 9.73sWARNros2_control_nodeOverrun might occur, Total time : 2342.805 us (Expected < 1666.667 us) --> Read time : 1880.556 us, Update time : 116.582 us, Write time : 345.667 us[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608166 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608166 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun might occur, Total time : 3894.873 us (Expected < 1666.667 us) --> Read time : 611.291 us, Update time : 170.474 us, Write time : 3113.108 us + 10.81sWARNros2_control_nodeOverrun might occur, Total time : 3894.873 us (Expected < 1666.667 us) --> Read time : 611.291 us, Update time : 170.474 us, Write time : 3113.108 us[0m ×2 + 10.95sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.99sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.05sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.08sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.09sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.11sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.13sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.15sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.16sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.18sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.20sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.22sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.24sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.27sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.27sINFOcontroller_managerShutdown request received.... + 11.27sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.27sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.27sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.27sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.27sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.27sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.27sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.27sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.27sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.27sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.27sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.27sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.27sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.27sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.27sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.27sINFOcontroller_managerShutting down the controller manager. + 11.27sINFOweb_video_server-31process has finished cleanly [pid 9472] ×2 + 11.29sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.30sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9456] ×2 + 11.31sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.33sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.35sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.35sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.38sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.39sERRORui_teleop_bridge-28process has died [pid 9454, 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_uxd02vjh']. ×2 + 11.40sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.40sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.40sINFOmap_serverDeactivating + 11.40sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.40sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sERRORobjective_server_node_main-25process has died [pid 9451, 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_2vog2gmk --params-file /tmp/launch_params_a6qoce_g --params-file /tmp/launch_params_ckwtu23s --params-file /tmp/launch_params_lipybe26 --params-file /tmp/launch_params__fbxy5fw --params-file /tmp/launch_params_iz5ywq7u']. ×2 + 11.40sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.40sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.40sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.40sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.40sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.40sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.41sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.41sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.41sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.41sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.41sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.41sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.41sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOobjective_server_node[2026-06-11 16:58:06.619] [moveit_pro_license] [info] ×2 + 11.41sINFOobjective_server_node************************************************* ×4 + 11.41sINFOobjective_server_node* MoveIt Pro License ×2 + 11.41sINFOobjective_server_node* Application has successfully terminated ×2 + 11.41sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOmap_serverCleaning up + 11.41sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.41sINFOcontroller_serverCleaning up + 11.41sINFOlocal_costmap.local_costmapCleaning up + 11.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.42sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.42sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.42sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.42sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.42sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.42sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ed1f0ea6a4, in _start ×2 + 11.42sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a1e0428a, in __libc_start_main ×2 + 11.42sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a1e041d0, in ×2 + 11.42sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a1e21bbd, in exit ×2 + 11.42sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f56a1e21a75, in ×2 + 11.42sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f56a22f34a2, in spdlog::details::registry::~registry() ×2 + 11.42sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f56a22fe69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.42sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f56a22f8965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.42sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ed1f0f1315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.42sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ed1f0f05a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.42sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ed1f0ecb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.42sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ed1f0ead79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.42sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a2984454, in rclcpp::Node::~Node() ×2 + 11.42sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a293f515, in ×2 + 11.42sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a2982d20, in ×2 + 11.42sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a2982c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.42sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a293f5d9, in ×2 + 11.42sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f56a2944161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.42sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f565daac450]) ×2 + 11.42sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.42sINFOmove_groupDeleting MoveItCpp[0m ×2 + 11.42sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.42sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.42sINFOodom_qos_relay.pymain() ×2 + 11.42sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.42sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.42sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.42sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.42sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.42sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.42sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.42sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.42sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.42sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.42sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.42sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.43sINFOmove_groupStopping world geometry monitor[0m ×2 + 11.43sINFOmove_groupStopping planning scene monitor[0m ×2 + 11.43sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.43sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.43sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.45sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.45sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.45sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.47sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.47sINFOsmoother_serverCleaning up + 11.48sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.48sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.48sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.48sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.48sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.48sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.48sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.48sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.48sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.48sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.48sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.48sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.49sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.49sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.49sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.94sERRORcomponent_container_isolated-1process has died [pid 9280, 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_5e03an5u --params-file /tmp/launch_params_6hzkktyb -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.20sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9450] ×2 + 12.21sINFOexecute_objective_bridge-27process has finished cleanly [pid 9453] ×2 + 12.24sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9390] ×2 + 12.28sINFOparameter_manager_node-21process has finished cleanly [pid 9386] ×2 + 12.30sINFOwaypoint_manager_node-22process has finished cleanly [pid 9389] ×2 + 12.33sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9286] ×2 + 12.35sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9285] ×2 + 12.39sINFOstatic_transform_publisher-4process has finished cleanly [pid 9283] ×2 + 12.41sINFOstatic_transform_publisher-3process has finished cleanly [pid 9282] ×2 + 12.42sINFOstatic_transform_publisher-2process has finished cleanly [pid 9281] ×2 + 12.42sINFOcomponent_container_mt-26process has finished cleanly [pid 9452] ×2 + 12.44sERRORodom_qos_relay.py-5process has died [pid 9284, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.45sINFOmove_group-20process has finished cleanly [pid 9384] ×2 + 13.10sINFOros2_control_node-8process has finished cleanly [pid 9287] ×2 + 13.91sINFOweb_bridge-29process has finished cleanly [pid 9455] ×2 + 13.91sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.1s | 3 errors · 90 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2456.936 us (Expected < 1666.667 us) --> Read time : 125.893 us, Update time : 951.928 us, Write time : 1379.115 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2456.936 us (Expected < 1666.667 us) --> Read time : 125.893 us, Update time : 951.928 us, Write time : 1379.115 us[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824882 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.824882 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 2726.581 us (Expected < 1666.667 us) --> Read time : 2128.440 us, Update time : 244.514 us, Write time : 353.627 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 2726.581 us (Expected < 1666.667 us) --> Read time : 2128.440 us, Update time : 244.514 us, Write time : 353.627 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454979 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454979 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112227 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112227 ms (missed cycles : 2).[0m ×2 + 2.47sWARNcontroller_managerOverrun might occur, Total time : 2862.044 us (Expected < 1666.667 us) --> Read time : 157.783 us, Update time : 2281.133 us, Write time : 423.128 us + 2.47sWARNros2_control_nodeOverrun might occur, Total time : 2862.044 us (Expected < 1666.667 us) --> Read time : 157.783 us, Update time : 2281.133 us, Write time : 423.128 us[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021145 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.021145 ms (missed cycles : 4).[0m ×2 + 3.48sINFOjoint_trajectory_controllerGoal reached, success! + 3.48sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781196927.22948050 seconds ×3 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sWARNcontroller_managerOverrun might occur, Total time : 2405.154 us (Expected < 1666.667 us) --> Read time : 187.743 us, Update time : 148.293 us, Write time : 2069.118 us + 3.65sWARNros2_control_nodeOverrun might occur, Total time : 2405.154 us (Expected < 1666.667 us) --> Read time : 187.743 us, Update time : 148.293 us, Write time : 2069.118 us[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781196927.77873111 seconds. ×3 + 4.11sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933768 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933768 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.90sWARNcontroller_managerOverrun might occur, Total time : 4352.470 us (Expected < 1666.667 us) --> Read time : 325.096 us, Update time : 337.376 us, Write time : 3689.998 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 4352.470 us (Expected < 1666.667 us) --> Read time : 325.096 us, Update time : 337.376 us, Write time : 3689.998 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933626 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933626 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.74sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.74sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.74sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.74sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827763 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827763 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun might occur, Total time : 1765.943 us (Expected < 1666.667 us) --> Read time : 179.524 us, Update time : 767.284 us, Write time : 819.135 us + 6.50sWARNros2_control_nodeOverrun might occur, Total time : 1765.943 us (Expected < 1666.667 us) --> Read time : 179.524 us, Update time : 767.284 us, Write time : 819.135 us[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888691 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888691 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun might occur, Total time : 2597.578 us (Expected < 1666.667 us) --> Read time : 129.363 us, Update time : 2144.099 us, Write time : 324.116 us + 7.81sWARNros2_control_nodeOverrun might occur, Total time : 2597.578 us (Expected < 1666.667 us) --> Read time : 129.363 us, Update time : 2144.099 us, Write time : 324.116 us[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669197 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669197 ms (missed cycles : 3).[0m ×2 + 8.88sWARNcontroller_managerOverrun might occur, Total time : 1945.496 us (Expected < 1666.667 us) --> Read time : 129.512 us, Update time : 1206.682 us, Write time : 609.302 us + 8.88sWARNros2_control_nodeOverrun might occur, Total time : 1945.496 us (Expected < 1666.667 us) --> Read time : 129.512 us, Update time : 1206.682 us, Write time : 609.302 us[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913507 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913507 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667835 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667835 ms (missed cycles : 3).[0m ×2 + 11.08sWARNcontroller_managerOverrun might occur, Total time : 3211.360 us (Expected < 1666.667 us) --> Read time : 136.892 us, Update time : 510.800 us, Write time : 2563.668 us + 11.08sWARNros2_control_nodeOverrun might occur, Total time : 3211.360 us (Expected < 1666.667 us) --> Read time : 136.892 us, Update time : 510.800 us, Write time : 2563.668 us[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350909 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350909 ms (missed cycles : 3).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018289 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018289 ms (missed cycles : 3).[0m ×2 + 12.84sWARNcontroller_managerOverrun might occur, Total time : 9515.528 us (Expected < 1666.667 us) --> Read time : 155.423 us, Update time : 8940.898 us, Write time : 419.207 us + 12.84sWARNros2_control_nodeOverrun might occur, Total time : 9515.528 us (Expected < 1666.667 us) --> Read time : 155.423 us, Update time : 8940.898 us, Write time : 419.207 us[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015078 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015078 ms (missed cycles : 2).[0m ×2 + 14.11sWARNcontroller_managerOverrun might occur, Total time : 2487.317 us (Expected < 1666.667 us) --> Read time : 149.523 us, Update time : 1831.094 us, Write time : 506.700 us + 14.11sWARNros2_control_nodeOverrun might occur, Total time : 2487.317 us (Expected < 1666.667 us) --> Read time : 149.523 us, Update time : 1831.094 us, Write time : 506.700 us[0m ×2 + 14.54sINFOjoint_trajectory_controllerGot request to cancel goal + 14.54sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.59sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781196938.29853439 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652831 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652831 ms (missed cycles : 3).[0m ×2 + 15.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781196938.85302067 seconds. ×3 + 15.21sWARNcontroller_managerOverrun might occur, Total time : 1832.204 us (Expected < 1666.667 us) --> Read time : 130.342 us, Update time : 1408.406 us, Write time : 293.456 us + 15.21sWARNros2_control_nodeOverrun might occur, Total time : 1832.204 us (Expected < 1666.667 us) --> Read time : 130.342 us, Update time : 1408.406 us, Write time : 293.456 us[0m ×2 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976747 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.976747 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176087 ms (missed cycles : 4). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176087 ms (missed cycles : 4).[0m ×2 + 16.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.39sWARNcontroller_managerOverrun might occur, Total time : 5899.011 us (Expected < 1666.667 us) --> Read time : 148.613 us, Update time : 5320.350 us, Write time : 430.048 us + 17.39sWARNros2_control_nodeOverrun might occur, Total time : 5899.011 us (Expected < 1666.667 us) --> Read time : 148.613 us, Update time : 5320.350 us, Write time : 430.048 us[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 63 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.94sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.91sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.91sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun might occur, Total time : 2127.260 us (Expected < 1666.667 us) --> Read time : 266.585 us, Update time : 1523.068 us, Write time : 337.607 us + 6.87sWARNros2_control_nodeOverrun might occur, Total time : 2127.260 us (Expected < 1666.667 us) --> Read time : 266.585 us, Update time : 1523.068 us, Write time : 337.607 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381412 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381412 ms (missed cycles : 3).[0m ×2 + 8.11sWARNcontroller_managerOverrun might occur, Total time : 2016.647 us (Expected < 1666.667 us) --> Read time : 143.802 us, Update time : 1567.970 us, Write time : 304.875 us + 8.11sWARNros2_control_nodeOverrun might occur, Total time : 2016.647 us (Expected < 1666.667 us) --> Read time : 143.802 us, Update time : 1567.970 us, Write time : 304.875 us[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309251 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.309251 ms (missed cycles : 5).[0m ×2 + 8.56sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781196841.13876557 seconds ×3 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584625 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584625 ms (missed cycles : 4).[0m ×2 + 9.40sWARNcontroller_managerOverrun might occur, Total time : 1744.372 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 110.842 us, Write time : 1494.187 us + 9.40sWARNros2_control_nodeOverrun might occur, Total time : 1744.372 us (Expected < 1666.667 us) --> Read time : 139.343 us, Update time : 110.842 us, Write time : 1494.187 us[0m ×2 + 10.11sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781196842.68548846 seconds. ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436933 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436933 ms (missed cycles : 2).[0m ×2 + 10.48sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 10.80sWARNcontroller_managerOverrun might occur, Total time : 4530.814 us (Expected < 1666.667 us) --> Read time : 143.282 us, Update time : 3955.614 us, Write time : 431.918 us + 10.80sWARNros2_control_nodeOverrun might occur, Total time : 4530.814 us (Expected < 1666.667 us) --> Read time : 143.282 us, Update time : 3955.614 us, Write time : 431.918 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831726 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831726 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.98sWARNcontroller_managerOverrun might occur, Total time : 1749.482 us (Expected < 1666.667 us) --> Read time : 156.803 us, Update time : 652.432 us, Write time : 940.247 us + 11.98sWARNros2_control_nodeOverrun might occur, Total time : 1749.482 us (Expected < 1666.667 us) --> Read time : 156.803 us, Update time : 652.432 us, Write time : 940.247 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760848 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.760848 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2).[0m ×2 + 0.67sWARNcontroller_managerOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us + 0.67sWARNros2_control_nodeOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us + 2.56sWARNros2_control_nodeOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.23sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.23sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us[0m ×2 + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781196779.52285409 seconds ×3 + 7.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781196780.07145739 seconds. ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us + 8.34sWARNros2_control_nodeOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6).[0m ×2 + 9.78sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 42 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197077.51347876 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197078.09649086 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197078.89666700 seconds ×3 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197079.44145465 seconds. ×3 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197079.90166688 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.04sWARNcontroller_managerOverrun might occur, Total time : 2117.119 us (Expected < 1666.667 us) --> Read time : 248.044 us, Update time : 1500.228 us, Write time : 368.847 us + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020114 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 2117.119 us (Expected < 1666.667 us) --> Read time : 248.044 us, Update time : 1500.228 us, Write time : 368.847 us[0m ×2 + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.020114 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008793 ms (missed cycles : 7). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.008793 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2).[0m ×2 + 0.67sWARNcontroller_managerOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us + 0.67sWARNros2_control_nodeOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us + 2.56sWARNros2_control_nodeOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713954 ms (missed cycles : 2).[0m ×2 + 0.67sWARNcontroller_managerOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us + 0.67sWARNros2_control_nodeOverrun might occur, Total time : 1740.752 us (Expected < 1666.667 us) --> Read time : 132.512 us, Update time : 1302.605 us, Write time : 305.635 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525192 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639452 ms (missed cycles : 3).[0m ×2 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us + 2.56sWARNros2_control_nodeOverrun might occur, Total time : 2045.239 us (Expected < 1666.667 us) --> Read time : 207.554 us, Update time : 1465.458 us, Write time : 372.227 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920369 ms (missed cycles : 2).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.23sINFOjoint_trajectory_controllerReceived new action goal + 5.23sINFOjoint_trajectory_controllerAccepted new action goal + 5.24sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.24sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 33 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781196775.89943075 seconds ×3 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 1914.315 us (Expected < 1666.667 us) --> Read time : 776.454 us, Update time : 177.103 us, Write time : 960.758 us[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243252 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781196776.44272137 seconds. ×3 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173637 ms (missed cycles : 2).[0m ×2 + 1.54sINFOobjective_server_nodeFound path in 0 iterations (2.3731e-05 s). ×2 + 1.54sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us + 2.05sWARNros2_control_nodeOverrun might occur, Total time : 2418.995 us (Expected < 1666.667 us) --> Read time : 171.183 us, Update time : 1923.306 us, Write time : 324.506 us[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231206 ms (missed cycles : 2).[0m ×2 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 4040.006 us (Expected < 1666.667 us) --> Read time : 145.833 us, Update time : 438.828 us, Write time : 3455.345 us[0m ×2 + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372206 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781196779.52285409 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781196780.07145739 seconds. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.984859 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3545.236 us (Expected < 1666.667 us) --> Read time : 165.263 us, Update time : 3032.317 us, Write time : 347.656 us[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.716307 ms (missed cycles : 6).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.43sWARNcontroller_managerOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us + 6.44sWARNros2_control_nodeOverrun might occur, Total time : 1768.543 us (Expected < 1666.667 us) --> Read time : 168.573 us, Update time : 1259.954 us, Write time : 340.016 us[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236963 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753283 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 2000.218 us (Expected < 1666.667 us) --> Read time : 147.213 us, Update time : 1436.547 us, Write time : 416.458 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.123965 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3007.936 us (Expected < 1666.667 us) --> Read time : 152.572 us, Update time : 176.494 us, Write time : 2678.870 us[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012849 ms (missed cycles : 2).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781196836.52160335 seconds ×3 + 3.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628043 ms (missed cycles : 3).[0m ×2 + 4.41sWARNcontroller_managerOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us + 4.41sWARNros2_control_nodeOverrun might occur, Total time : 3574.807 us (Expected < 1666.667 us) --> Read time : 143.923 us, Update time : 146.402 us, Write time : 3284.482 us[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781196837.07860208 seconds. ×3 + 4.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.91sINFOjoint_trajectory_controllerReceived new action goal + 4.91sINFOjoint_trajectory_controllerAccepted new action goal + 4.91sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.91sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735514 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055579 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196872.99565554 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196873.54933858 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5).[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196872.99565554 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196873.54933858 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5).[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 33 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1814.273 us (Expected < 1666.667 us) --> Read time : 126.422 us, Update time : 874.626 us, Write time : 813.225 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379846 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 6071.812 us (Expected < 1666.667 us) --> Read time : 139.802 us, Update time : 325.016 us, Write time : 5606.994 us[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812288 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484765 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 6069.474 us (Expected < 1666.667 us) --> Read time : 132.313 us, Update time : 5571.394 us, Write time : 365.767 us[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713610 ms (missed cycles : 2).[0m ×2 + 3.39sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.44sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781196872.99565554 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2077.249 us (Expected < 1666.667 us) --> Read time : 145.672 us, Update time : 113.093 us, Write time : 1818.484 us[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781196873.54933858 seconds. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (6.9e-07 s). ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791599 ms (missed cycles : 5).[0m ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us + 4.78sWARNros2_control_nodeOverrun might occur, Total time : 3059.956 us (Expected < 1666.667 us) --> Read time : 146.062 us, Update time : 115.302 us, Write time : 2798.592 us[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710736 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.66sINFOjoint_trajectory_controllerReceived new action goal + 5.66sINFOjoint_trajectory_controllerAccepted new action goal + 5.66sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.66sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 2311.693 us (Expected < 1666.667 us) --> Read time : 164.884 us, Update time : 1832.904 us, Write time : 313.905 us[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.836124 ms (missed cycles : 6).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771223 ms (missed cycles : 2).[0m ×2 + 1.56sWARNcontroller_managerOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 6218.936 us (Expected < 1666.667 us) --> Read time : 204.574 us, Update time : 5589.014 us, Write time : 425.348 us[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159485 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us + 3.08sWARNros2_control_nodeOverrun might occur, Total time : 3209.750 us (Expected < 1666.667 us) --> Read time : 139.753 us, Update time : 2729.911 us, Write time : 340.086 us[0m ×2 + 3.20sINFOjoint_trajectory_controllerGoal reached, success! + 3.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781197008.81319308 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901047 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781197009.37453055 seconds. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (8.7e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.558015 ms (missed cycles : 4).[0m ×2 + 4.44sWARNcontroller_managerOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us + 4.44sWARNros2_control_nodeOverrun might occur, Total time : 2661.459 us (Expected < 1666.667 us) --> Read time : 120.202 us, Update time : 2099.649 us, Write time : 441.608 us[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280595 ms (missed cycles : 3).[0m ×2 + 5.61sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal + 5.65sINFOjoint_trajectory_controllerAccepted new action goal + 5.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 33 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162664 ms (missed cycles : 4).[0m ×2 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 6766.346 us (Expected < 1666.667 us) --> Read time : 154.983 us, Update time : 150.563 us, Write time : 6460.800 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675121 ms (missed cycles : 2).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2620.899 us (Expected < 1666.667 us) --> Read time : 164.703 us, Update time : 1953.277 us, Write time : 502.919 us[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861065 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1919.816 us (Expected < 1666.667 us) --> Read time : 552.940 us, Update time : 467.559 us, Write time : 899.317 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749589 ms (missed cycles : 2).[0m ×2 + 3.13sINFOjoint_trajectory_controllerGoal reached, success! + 3.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781197077.51347876 seconds ×3 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781197078.09649086 seconds. ×3 + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.75sINFOmove_groupClearing octomap...[0m ×2 + 3.75sINFOmove_groupOctomap cleared.[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2501.026 us (Expected < 1666.667 us) --> Read time : 159.423 us, Update time : 135.012 us, Write time : 2206.591 us[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.124301 ms (missed cycles : 7).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781197078.89666700 seconds ×3 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 4565.655 us (Expected < 1666.667 us) --> Read time : 145.853 us, Update time : 4113.956 us, Write time : 305.846 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785022 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781197079.44145465 seconds. ×3 + 5.55sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781197079.90166688 seconds ×3 + 5.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_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 | 24.1s | 13 errors · 107 warnings · 4761 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-11-16-51-46-089566-137ce4b46d7c-9231 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 10.07sINFOstatic_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' + 10.08sINFOstatic_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' + 10.08sINFOstatic_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' + 10.17sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 10.19sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 10.20sINFOcontroller_managerupdate rate is 600 Hz + 10.20sINFOcontroller_managerOverruns handling is : enabled + 10.20sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 10.21sWARNcontroller_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. + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168547 ms (missed cycles : 2). + 10.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 10.37sINFOros2_control_node-8process started with pid [9287] ×2 + 10.37sINFOmove_group-20process started with pid [9384] ×2 + 10.37sINFOparameter_manager_node-21process started with pid [9386] ×2 + 10.37sINFOwaypoint_manager_node-22process started with pid [9389] ×2 + 10.37sINFOmove_joint_resampler_node-23process started with pid [9390] ×2 + 10.37sINFOmove_end_effector_resampler_node-24process started with pid [9450] ×2 + 10.39sINFOobjective_server_node_main-25process started with pid [9451] ×2 + 10.39sINFOcomponent_container_mt-26process started with pid [9452] ×2 + 10.39sINFOexecute_objective_bridge-27process started with pid [9453] ×2 + 10.39sINFOui_teleop_bridge-28process started with pid [9454] ×2 + 10.39sINFOweb_bridge-29process started with pid [9455] ×2 + 10.39sINFOtf2_web_republisher_node-30process started with pid [9456] ×2 + 10.39sINFOweb_video_server-31process started with pid [9472] ×2 + 10.40sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 10.40sINFOcomponent_container_isolated-1process started with pid [9280] ×2 + 10.40sINFOstatic_transform_publisher-2process started with pid [9281] ×2 + 10.40sINFOstatic_transform_publisher-3process started with pid [9282] ×2 + 10.40sINFOstatic_transform_publisher-4process started with pid [9283] ×2 + 10.40sINFOodom_qos_relay.py-5process started with pid [9284] ×2 + 10.40sINFOscan_to_scan_filter_chain-6process started with pid [9285] ×2 + 10.40sINFOscan_to_scan_filter_chain-7process started with pid [9286] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9365] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9366] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9367] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9368] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9370] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9372] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9374] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9377] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9379] ×2 + 10.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9381] ×2 + 10.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9383] ×2 + 10.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 10.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 10.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 10.49sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 10.49sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 10.49sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 10.49sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 10.49sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 10.49sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 10.49sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 10.49sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 10.49sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 10.49sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 10.49sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 10.49sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 10.49sWARNros2_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 + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168547 ms (missed cycles : 2).[0m ×2 + 10.54sINFOmap_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. + 10.54sINFOmap_serverCreating + 10.55sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 10.56sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 10.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 10.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 10.58sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 10.59sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 10.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 10.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 10.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 10.65sINFOcontroller_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. + 10.72sINFOrobot_state_publisherRobot initialized + 10.72sINFOcontroller_managerReceived robot description from topic. + 10.72sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 10.72sINFOcomponent_container_mtRobot initialized[0m ×2 + 10.72sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 10.72sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 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 + 10.75sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 10.75sINFOcontroller_serverCreating controller server + 10.75sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 10.79sINFOlocal_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. + 10.80sINFOlocal_costmap.local_costmapCreating Costmap + 10.81sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 10.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 10.82sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 10.82sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 10.82sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 10.84sINFOlifecycle_manager_localizationCreating + 10.86sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 10.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 10.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 10.87sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.87sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 10.87sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 10.87sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 10.87sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 10.87sINFOmap_serverConfiguring + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 10.87sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 10.87sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 10.90sINFOsmoother_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. + 10.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 10.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 10.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 10.92sINFOsmoother_serverCreating smoother server + 10.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 10.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 10.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 10.97sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 10.97sINFOmap_serverActivating + 10.97sINFOplanner_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. + 10.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 11.00sINFOplanner_serverCreating + 11.04sINFOglobal_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. + 11.06sINFOglobal_costmap.global_costmapCreating Costmap + 11.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 11.08sINFOlifecycle_manager_localizationServer map_server connected with bond. + 11.09sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 11.09sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 11.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 11.09sWARNlaser_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. + 11.09sWARNlaser_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. + 11.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 11.09sWARNscan_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 + 11.11sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.11sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 11.11sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.15sINFObehavior_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. + 11.15sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.370715 seconds + 11.15sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 11.15sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 11.17sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 11.17sINFOmove_groupLoaded robot model in 0.370715 seconds[0m ×2 + 11.17sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 11.17sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 11.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 11.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 11.29sINFObt_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. + 11.32sINFObt_navigatorCreating + 11.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 11.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 11.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 11.38sINFOwaypoint_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. + 11.39sINFOwaypoint_followerCreating + 11.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 11.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 11.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.40sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.532395 ms (missed cycles : 9). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.532395 ms (missed cycles : 9).[0m ×2 + 11.44sINFOvelocity_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. + 11.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 11.45sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.45sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 11.45sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.48sINFOlifecycle_manager_navigationCreating + 11.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 11.50sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 11.50sINFOwaypoint_manager_nodeLoaded robot model in 0.345872 seconds[0m ×2 + 11.50sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 11.50sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.50sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 11.51sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 11.51sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 11.51sINFOcontroller_serverConfiguring controller interface + 11.51sINFOcontroller_servergetting progress checker plugins.. + 11.51sINFOcontroller_servergetting goal checker plugins.. + 11.51sINFOcontroller_serverController frequency set to 20.0000Hz + 11.51sINFOlocal_costmap.local_costmapConfiguring + 11.52sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 11.55sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 11.58sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 11.58sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 11.58sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 11.62sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 11.62sINFOcontroller_serverController Server has progress_checker progress checkers available. + 11.63sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 11.63sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 11.64sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 11.66sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 11.68sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 11.68sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 11.69sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 11.69sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 11.70sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 11.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 11.70sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 11.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 11.72sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 11.72sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 11.73sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 11.73sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 11.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 11.74sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 11.74sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 11.74sINFOcontroller_serverOptimizer reset + 11.76sINFOcontroller_serverController Server has FollowPath controllers available. + 11.77sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 11.77sINFOsmoother_serverConfiguring smoother server + 11.78sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 11.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 11.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 11.81sINFOplanner_serverConfiguring + 11.81sINFOglobal_costmap.global_costmapConfiguring + 11.82sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 11.83sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 11.84sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 11.84sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 11.85sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 11.89sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.89sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.92sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 11.92sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 11.93sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 11.96sFATALplanner_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 + 11.96sINFOplanner_serverCleaning up + 11.96sINFOglobal_costmap.global_costmapCleaning up + 11.96sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 12.02sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.02sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 12.34sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 12.34sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 12.34sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 12.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 12.40sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756813 ms (missed cycles : 2). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756813 ms (missed cycles : 2).[0m ×2 + 12.55sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 12.55sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 12.55sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 12.55sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 12.55sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 12.55sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 12.55sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 12.55sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 12.55sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.55sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 12.55sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 12.55sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 12.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 12.56sINFOmove_groupStarting planning scene monitor[0m ×2 + 12.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 12.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 12.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 12.56sINFOmove_groupListening to '/planning_scene'[0m ×2 + 12.56sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 12.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 12.56sINFOmove_groupListening to 'collision_object'[0m ×2 + 12.56sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 12.91sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 12.91sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 12.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 13.08sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 13.08sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 13.08sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 13.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 13.08sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 13.08sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 13.08sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 13.08sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 13.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 13.08sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 13.08sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 13.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 13.08sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 13.08sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 13.08sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 13.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 13.08sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 13.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 13.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 13.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 13.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 13.09sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 13.09sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 13.11sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.11sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 13.11sWARNros2_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 + 13.16sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.16sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.16sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.16sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.16sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 13.16sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 13.19sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 13.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 13.19sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.20sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.20sINFOforce_torque_sensor_broadcasterconfigure successful + 13.20sINFOros2_control_nodeconfigure successful[0m ×6 + 13.21sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 13.21sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 13.21sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 13.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 13.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.53sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 13.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 13.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9365] ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852944 ms (missed cycles : 2). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852944 ms (missed cycles : 2).[0m ×2 + 13.65sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 13.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 13.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.66sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.66sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.66sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.66sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.66sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.66sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.66sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.66sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.67sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 13.73sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.73sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 13.73sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.73sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 13.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 13.75sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 13.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 13.93sWARNcontroller_managerOverrun might occur, Total time : 1677.241 us (Expected < 1666.667 us) --> Read time : 1023.499 us, Update time : 245.965 us, Write time : 407.777 us + 13.93sWARNros2_control_nodeOverrun might occur, Total time : 1677.241 us (Expected < 1666.667 us) --> Read time : 1023.499 us, Update time : 245.965 us, Write time : 407.777 us[0m ×2 + 13.94sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 13.94sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 13.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 13.97sINFOobjective_server_node[2026-06-11 16:52:03.251] [moveit_pro_license] [info] ×2 + 13.97sINFOobjective_server_node************************************************* ×4 + 13.97sWARNcomponent_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 + 13.98sINFOobjective_server_node* MoveIt Pro License ×2 + 13.98sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 13.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9374] ×2 + 13.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 14.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 14.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 14.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 14.21sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 14.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 14.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 14.23sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 14.23sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 14.23sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 14.26sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 14.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 14.26sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 14.30sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.30sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 14.30sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.33sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 14.33sINFOcomponent_container_mtLoaded robot model in 0.345732 seconds[0m ×2 + 14.33sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 14.33sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.40sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 14.40sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 14.40sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 14.43sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 14.43sINFOobjective_server_nodeLoaded robot model in 0.385911 seconds[0m ×2 + 14.43sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 14.43sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872867 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872867 ms (missed cycles : 2).[0m ×2 + 14.70sINFOros2_control_node[2026-06-11 16:52:03.982] [info] Controller state will be published at 20 Hz. ×2 + 14.70sINFOros2_control_node[2026-06-11 16:52:03.984] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.94sINFOobjective_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 + 14.94sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 14.94sWARNcontroller_managerOverrun might occur, Total time : 1898.565 us (Expected < 1666.667 us) --> Read time : 1226.633 us, Update time : 278.195 us, Write time : 393.737 us + 14.94sWARNros2_control_nodeOverrun might occur, Total time : 1898.565 us (Expected < 1666.667 us) --> Read time : 1226.633 us, Update time : 278.195 us, Write time : 393.737 us[0m ×2 + 14.96sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 14.96sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 15.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9381] ×2 + 15.05sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 15.07sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 15.08sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 15.10sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 15.11sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 15.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 15.11sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 15.12sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 15.12sINFOmove_groupMoveGroup debug mode is ON + 15.12sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 15.12sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 15.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 15.15sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 15.15sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 15.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 15.18sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 15.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 15.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 15.25sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 15.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 15.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 15.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 15.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 15.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 15.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 15.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 15.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 15.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 15.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 15.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 15.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 15.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 15.36sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 15.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 15.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 15.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 15.36sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 15.36sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 15.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 15.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 15.36sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 15.36sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 15.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 15.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 15.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 15.38sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 15.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 15.44sINFOmove_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
********************************************************
+ 15.44sINFOmove_group ×8 + 15.44sINFOmove_group******************************************************** ×4 + 15.44sINFOmove_group* MoveGroup using: ×2 + 15.44sINFOmove_group* - apply_planning_scene_service ×2 + 15.44sINFOmove_group* - clear_octomap_service ×2 + 15.44sINFOmove_group* - ExecuteTaskSolution ×2 + 15.44sINFOmove_group* - get_group_urdf ×2 + 15.44sINFOmove_group* - load_geometry_from_file ×2 + 15.44sINFOmove_group* - get_planning_scene_service ×2 + 15.44sINFOmove_group* - kinematics_service ×2 + 15.44sINFOmove_group* - save_geometry_to_file ×2 + 15.44sINFOmove_group* - GetPlanningGroups ×2 + 15.44sINFOmove_group* - SetActiveControllerService ×2 + 15.44sINFOmove_group* - URDFPlanningSceneCapability ×2 + 15.44sINFOmove_group[0m ×2 + 15.44sINFOmove_group[92mYou can start planning now![0m ×2 + 15.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082113 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082113 ms (missed cycles : 2).[0m ×2 + 15.57sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 15.57sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 15.58sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 15.58sINFOstreaming_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) + 15.58sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 15.58sINFOcomponent_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 + 15.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 15.70sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 15.70sINFOcontroller_managerLoading controller 'vacuum_gripper' + 15.70sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 15.70sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 15.70sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 15.70sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 15.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9367] ×2 + 15.73sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 15.73sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 15.77sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 15.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 15.77sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.77sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.77sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.77sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.77sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.78sWARNcontroller_managerOverrun might occur, Total time : 4127.297 us (Expected < 1666.667 us) --> Read time : 149.053 us, Update time : 3589.697 us (Switch time : 3534.185 us (Switch chained mode time : 0.470 us, perform mode change time : 3.270 us, Activation time : 3524.345 us, Deactivation time : 0.240 us)), Write time : 388.547 us + 15.78sWARNros2_control_nodeOverrun might occur, Total time : 4127.297 us (Expected < 1666.667 us) --> Read time : 149.053 us, Update time : 3589.697 us (Switch time : 3534.185 us (Switch chained mode time : 0.470 us, perform mode change time : 3.270 us, Activation time : 3524.345 us, Deactivation time : 0.240 us)), Write time : 388.547 us[0m ×2 + 15.78sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 15.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 15.91sWARNobjective_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 + 16.04sWARNcontroller_managerOverrun might occur, Total time : 3168.799 us (Expected < 1666.667 us) --> Read time : 121.222 us, Update time : 2627.029 us, Write time : 420.548 us + 16.04sWARNros2_control_nodeOverrun might occur, Total time : 3168.799 us (Expected < 1666.667 us) --> Read time : 121.222 us, Update time : 2627.029 us, Write time : 420.548 us[0m ×2 + 16.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9370] ×2 + 16.13sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 16.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 16.14sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.14sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.14sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.14sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.14sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 16.14sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 16.18sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 16.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 16.18sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.18sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.18sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.18sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.19sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 16.19sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798300 ms (missed cycles : 2). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798300 ms (missed cycles : 2).[0m ×2 + 16.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9366] ×2 + 16.69sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 16.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... ×2 + 16.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.69sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.71sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 16.71sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 16.74sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 16.75sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 16.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.76sINFOplatform_velocity_controller_nav2configure successful + 17.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 17.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 17.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 17.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 17.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 17.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 17.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 17.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 17.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 17.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 17.14sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 17.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 17.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 18.16sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 18.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 18.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 18.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 18.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 18.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 18.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 18.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 18.30sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 18.51sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 18.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 18.66sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 18.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 18.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 19.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.04sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 19.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 19.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 19.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 19.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 19.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 19.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 19.49sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 19.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 19.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 19.88sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 19.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 20.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.14sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.14sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.14sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.14sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 20.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 20.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 20.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 20.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.18sINFOplatform_velocity_controllerconfigure successful + 20.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 20.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 20.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 20.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 20.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 20.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 20.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 20.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 20.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 20.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 20.92sINFOmove_groupClearing octomap...[0m ×2 + 20.92sINFOmove_groupOctomap cleared.[0m ×2 + 20.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 21.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 21.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 22.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 22.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 22.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 22.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 22.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 22.76sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 22.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 22.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 22.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 22.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 22.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 22.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 22.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 22.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 22.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 22.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 22.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 22.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 23.12sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 23.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 23.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 23.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 23.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 23.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 23.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 23.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 23.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 23.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 23.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 39 warnings · 1591 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.76sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.89sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.27sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.63sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.64sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.64sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 1.70sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.08sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.48sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.74sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.74sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.74sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.77sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.78sINFOplatform_velocity_controllerconfigure successful + 2.78sINFOros2_control_nodeconfigure successful[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 5.72sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.21sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 7.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.51sINFOjoint_trajectory_controllerReceived new action goal + 7.51sINFOjoint_trajectory_controllerAccepted new action goal + 7.51sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.51sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 42 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 1604 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9372] ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2345.244 us (Expected < 1666.667 us) --> Read time : 401.637 us, Update time : 222.645 us, Write time : 1720.962 us[0m ×2 + 0.09sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.10sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.10sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.10sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.10sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.10sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.40sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.40sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.42sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.76sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 1.15sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.28sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.51sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.65sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.66sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 2.10sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.11sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.11sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.48sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.75sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.87sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.13sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 3.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 3.14sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 3.17sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 3.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 3.17sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 3.17sINFOplatform_velocity_controllerconfigure successful + 3.17sINFOros2_control_nodeconfigure successful[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 3.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.83sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.83sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.91sINFOmove_groupClearing octomap...[0m ×2 + 3.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.47sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.47sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.75sINFOobjective_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 + 5.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.80sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 6.11sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 6.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 1582 info |
+ 0.00sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.00sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.00sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.02sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.03sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844485 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2_control_node[2026-06-11 16:52:07.044] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-11 16:52:07.045] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.76sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.89sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.11sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 1.11sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 1.26sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 1.27sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 1.27sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.63sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.64sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 1.64sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 1.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 1.70sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.08sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 2.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 2.48sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.74sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.74sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.74sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.77sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.77sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.78sINFOplatform_velocity_controllerconfigure successful + 2.78sINFOros2_control_nodeconfigure successful[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.79sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.11sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 3.43sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 5.07sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 5.07sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.40sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 5.72sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.21sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 6.21sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_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 | 42 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220907 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220907 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun might occur, Total time : 3106.238 us (Expected < 1666.667 us) --> Read time : 230.804 us, Update time : 211.084 us, Write time : 2664.350 us + 6.96sWARNros2_control_nodeOverrun might occur, Total time : 3106.238 us (Expected < 1666.667 us) --> Read time : 230.804 us, Update time : 211.084 us, Write time : 2664.350 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 36 warnings · 1123 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9383] ×2 + 0.02sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.12sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [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 + 0.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.16sINFOros2_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 + 0.20sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.20sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us + 0.38sWARNros2_control_nodeOverrun might occur, Total time : 3449.244 us (Expected < 1666.667 us) --> Read time : 2732.151 us, Update time : 98.642 us, Write time : 618.451 us[0m ×2 + 0.52sINFOros2_control_node[2026-06-11 16:52:07.935] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588226 ms (missed cycles : 2).[0m ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.940] [info] Controller state will be published at 10 Hz. ×2 + 0.53sINFOros2_control_node[2026-06-11 16:52:07.943] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.90sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.90sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.90sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.90sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 0.90sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.90sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9377] ×2 + 0.97sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.758] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.764] [info] Controller state will be published at 10 Hz. ×2 + 1.35sINFOros2_control_node[2026-06-11 16:52:08.767] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5). + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 8050.469 us (Expected < 1666.667 us) --> Read time : 175.493 us, Update time : 7466.448 us, Write time : 408.528 us[0m ×2 + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.267598 ms (missed cycles : 5).[0m ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9379] ×2 + 1.74sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t + 2.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vct2bswd --params-file /tmp/launch_params_eqfgidd4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ldid0n97 --params-file /tmp/launch_params_gg4v6_8t [0m ×2 + 2.04sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.04sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.04sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.04sINFOplatform_velocity_controllerconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.05sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9368] ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754869 ms (missed cycles : 3).[0m ×2 + 2.69sWARNcontroller_managerOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us + 2.70sWARNros2_control_nodeOverrun might occur, Total time : 1721.182 us (Expected < 1666.667 us) --> Read time : 201.973 us, Update time : 1185.942 us, Write time : 333.267 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781196730.19451761 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781196730.20476627 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781196730.75314569 seconds. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781196730.76327395 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715787 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781196731.30638838 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781196731.45781231 seconds ×3 + 4.33sWARNcontroller_managerOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us + 4.34sWARNros2_control_nodeOverrun might occur, Total time : 4922.172 us (Expected < 1666.667 us) --> Read time : 152.523 us, Update time : 4303.090 us, Write time : 466.559 us[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781196732.02353191 seconds. ×3 + 4.62sINFOobjective_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 + 4.63sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.63sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sWARNcontroller_managerOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us + 4.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 4197.636 us (Expected < 1666.667 us) --> Read time : 122.662 us, Update time : 3699.228 us (Switch time : 3628.327 us (Switch chained mode time : 0.560 us, perform mode change time : 4.740 us, Activation time : 3612.897 us, Deactivation time : 0.440 us)), Write time : 375.746 us[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781196732.09367561 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807588 ms (missed cycles : 2).[0m ×2 + 4.98sINFOros2_control_nodeMuJoCo sim: 0.74% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781196732.63255739 seconds. ×3 + 5.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.23sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us + 5.48sWARNros2_control_nodeOverrun might occur, Total time : 8616.960 us (Expected < 1666.667 us) --> Read time : 7944.127 us, Update time : 158.253 us, Write time : 514.580 us[0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169473 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.77sINFOjoint_trajectory_controllerReceived new action goal + 6.77sINFOjoint_trajectory_controllerAccepted new action goal + 6.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.77sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||