67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.4s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.0s | 3 errors · 312 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830139 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830139 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982714 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982714 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun might occur, Total time : 2516.901 us (Expected < 1666.667 us) --> Read time : 78.822 us, Update time : 2198.822 us, Write time : 239.257 us + 2.01sWARNros2_control_nodeOverrun might occur, Total time : 2516.901 us (Expected < 1666.667 us) --> Read time : 78.822 us, Update time : 2198.822 us, Write time : 239.257 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977852 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977852 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516086 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516086 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGot request to cancel goal + 3.59sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781412205.48415875 seconds ×3 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sWARNcontroller_managerOverrun might occur, Total time : 1782.981 us (Expected < 1666.667 us) --> Read time : 110.784 us, Update time : 1366.238 us, Write time : 305.959 us + 3.72sWARNros2_control_nodeOverrun might occur, Total time : 1782.981 us (Expected < 1666.667 us) --> Read time : 110.784 us, Update time : 1366.238 us, Write time : 305.959 us[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781412206.02679777 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770414 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770414 ms (missed cycles : 5).[0m ×2 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681611 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681611 ms (missed cycles : 2).[0m ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.45sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.57sWARNcontroller_managerOverrun might occur, Total time : 1729.178 us (Expected < 1666.667 us) --> Read time : 112.353 us, Update time : 1292.976 us, Write time : 323.849 us + 5.57sWARNros2_control_nodeOverrun might occur, Total time : 1729.178 us (Expected < 1666.667 us) --> Read time : 112.353 us, Update time : 1292.976 us, Write time : 323.849 us[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun might occur, Total time : 13314.835 us (Expected < 1666.667 us) --> Read time : 77.772 us, Update time : 67.812 us, Write time : 13169.251 us + 6.70sWARNros2_control_nodeOverrun might occur, Total time : 13314.835 us (Expected < 1666.667 us) --> Read time : 77.772 us, Update time : 67.812 us, Write time : 13169.251 us[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227515 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227515 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386241 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386241 ms (missed cycles : 3).[0m ×2 + 8.76sWARNcontroller_managerOverrun might occur, Total time : 2171.341 us (Expected < 1666.667 us) --> Read time : 109.623 us, Update time : 1857.533 us, Write time : 204.185 us + 8.76sWARNros2_control_nodeOverrun might occur, Total time : 2171.341 us (Expected < 1666.667 us) --> Read time : 109.623 us, Update time : 1857.533 us, Write time : 204.185 us[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862014 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862014 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514286 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514286 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun might occur, Total time : 3781.717 us (Expected < 1666.667 us) --> Read time : 103.723 us, Update time : 3370.125 us, Write time : 307.869 us + 10.69sWARNros2_control_nodeOverrun might occur, Total time : 3781.717 us (Expected < 1666.667 us) --> Read time : 103.723 us, Update time : 3370.125 us, Write time : 307.869 us[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288927 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.288927 ms (missed cycles : 5).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176104 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176104 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun might occur, Total time : 4568.409 us (Expected < 1666.667 us) --> Read time : 103.893 us, Update time : 4212.649 us, Write time : 251.867 us + 12.94sWARNros2_control_nodeOverrun might occur, Total time : 4568.409 us (Expected < 1666.667 us) --> Read time : 103.893 us, Update time : 4212.649 us, Write time : 251.867 us[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156392 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156392 ms (missed cycles : 2).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324873 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324873 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun might occur, Total time : 3054.776 us (Expected < 1666.667 us) --> Read time : 101.623 us, Update time : 2645.614 us, Write time : 307.539 us + 15.24sWARNros2_control_nodeOverrun might occur, Total time : 3054.776 us (Expected < 1666.667 us) --> Read time : 101.623 us, Update time : 2645.614 us, Write time : 307.539 us[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079031 ms (missed cycles : 5). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079031 ms (missed cycles : 5).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485623 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485623 ms (missed cycles : 3).[0m ×2 + 17.24sWARNcontroller_managerOverrun might occur, Total time : 3934.931 us (Expected < 1666.667 us) --> Read time : 160.944 us, Update time : 164.515 us, Write time : 3609.472 us + 17.24sWARNros2_control_nodeOverrun might occur, Total time : 3934.931 us (Expected < 1666.667 us) --> Read time : 160.944 us, Update time : 164.515 us, Write time : 3609.472 us[0m ×2 + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460364 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460364 ms (missed cycles : 3).[0m ×2 + 18.86sWARNcontroller_managerOverrun might occur, Total time : 1837.532 us (Expected < 1666.667 us) --> Read time : 83.593 us, Update time : 1555.834 us, Write time : 198.105 us + 18.86sWARNros2_control_nodeOverrun might occur, Total time : 1837.532 us (Expected < 1666.667 us) --> Read time : 83.593 us, Update time : 1555.834 us, Write time : 198.105 us[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247406 ms (missed cycles : 7). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.247406 ms (missed cycles : 7).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240846 ms (missed cycles : 4). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240846 ms (missed cycles : 4).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954298 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.954298 ms (missed cycles : 3).[0m ×2 + 21.61sWARNcontroller_managerOverrun might occur, Total time : 3671.184 us (Expected < 1666.667 us) --> Read time : 649.429 us, Update time : 2550.322 us, Write time : 471.433 us + 21.61sWARNros2_control_nodeOverrun might occur, Total time : 3671.184 us (Expected < 1666.667 us) --> Read time : 649.429 us, Update time : 2550.322 us, Write time : 471.433 us[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166020 ms (missed cycles : 2). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166020 ms (missed cycles : 2).[0m ×2 + 22.77sWARNcontroller_managerOverrun might occur, Total time : 2028.196 us (Expected < 1666.667 us) --> Read time : 85.332 us, Update time : 1730.068 us, Write time : 212.796 us + 22.77sWARNros2_control_nodeOverrun might occur, Total time : 2028.196 us (Expected < 1666.667 us) --> Read time : 85.332 us, Update time : 1730.068 us, Write time : 212.796 us[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518658 ms (missed cycles : 4). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518658 ms (missed cycles : 4).[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606886 ms (missed cycles : 3). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606886 ms (missed cycles : 3).[0m ×2 + 24.89sWARNcontroller_managerOverrun might occur, Total time : 1971.745 us (Expected < 1666.667 us) --> Read time : 1543.933 us, Update time : 121.303 us, Write time : 306.509 us + 24.89sWARNros2_control_nodeOverrun might occur, Total time : 1971.745 us (Expected < 1666.667 us) --> Read time : 1543.933 us, Update time : 121.303 us, Write time : 306.509 us[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332827 ms (missed cycles : 5). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.332827 ms (missed cycles : 5).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673013 ms (missed cycles : 5). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673013 ms (missed cycles : 5).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873092 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.873092 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun might occur, Total time : 1769.860 us (Expected < 1666.667 us) --> Read time : 90.953 us, Update time : 1424.350 us, Write time : 254.557 us + 28.34sWARNros2_control_nodeOverrun might occur, Total time : 1769.860 us (Expected < 1666.667 us) --> Read time : 90.953 us, Update time : 1424.350 us, Write time : 254.557 us[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816326 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816326 ms (missed cycles : 2).[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787737 ms (missed cycles : 4). + 30.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787737 ms (missed cycles : 4).[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745809 ms (missed cycles : 2). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.745809 ms (missed cycles : 2).[0m ×2 + 31.71sWARNcontroller_managerOverrun might occur, Total time : 1712.429 us (Expected < 1666.667 us) --> Read time : 117.944 us, Update time : 98.132 us, Write time : 1496.353 us + 31.72sWARNros2_control_nodeOverrun might occur, Total time : 1712.429 us (Expected < 1666.667 us) --> Read time : 117.944 us, Update time : 98.132 us, Write time : 1496.353 us[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333329 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333329 ms (missed cycles : 2).[0m ×2 + 32.77sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.77sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.09sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.384752 ms (missed cycles : 7). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.384752 ms (missed cycles : 7).[0m ×2 + 33.73sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.752866 ms (missed cycles : 8). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.752866 ms (missed cycles : 8).[0m ×2 + 34.71sWARNcontroller_managerOverrun might occur, Total time : 4278.941 us (Expected < 1666.667 us) --> Read time : 78.883 us, Update time : 3848.989 us, Write time : 351.069 us + 34.71sWARNros2_control_nodeOverrun might occur, Total time : 4278.941 us (Expected < 1666.667 us) --> Read time : 78.883 us, Update time : 3848.989 us, Write time : 351.069 us[0m ×2 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567736 ms (missed cycles : 3). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567736 ms (missed cycles : 3).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616399 ms (missed cycles : 6). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.616399 ms (missed cycles : 6).[0m ×2 + 37.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288931 ms (missed cycles : 2). + 37.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288931 ms (missed cycles : 2).[0m ×2 + 37.64sWARNcontroller_managerOverrun might occur, Total time : 2024.236 us (Expected < 1666.667 us) --> Read time : 124.593 us, Update time : 84.672 us, Write time : 1814.971 us + 37.64sWARNros2_control_nodeOverrun might occur, Total time : 2024.236 us (Expected < 1666.667 us) --> Read time : 124.593 us, Update time : 84.672 us, Write time : 1814.971 us[0m ×2 + 38.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896816 ms (missed cycles : 2). + 38.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896816 ms (missed cycles : 2).[0m ×2 + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750280 ms (missed cycles : 2). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750280 ms (missed cycles : 2).[0m ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495422 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495422 ms (missed cycles : 3).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595066 ms (missed cycles : 3). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.595066 ms (missed cycles : 3).[0m ×2 + 41.76sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952689 ms (missed cycles : 4). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952689 ms (missed cycles : 4).[0m ×2 + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732468 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732468 ms (missed cycles : 2).[0m ×2 + 44.19sWARNcontroller_managerOverrun might occur, Total time : 3101.808 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 2745.357 us, Write time : 262.598 us + 44.19sWARNros2_control_nodeOverrun might occur, Total time : 3101.808 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 2745.357 us, Write time : 262.598 us[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857160 ms (missed cycles : 4). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.857160 ms (missed cycles : 4).[0m ×2 + 45.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354681 ms (missed cycles : 6). + 45.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.354681 ms (missed cycles : 6).[0m ×2 + 46.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506115 ms (missed cycles : 3). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506115 ms (missed cycles : 3).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975709 ms (missed cycles : 4). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975709 ms (missed cycles : 4).[0m ×2 + 48.35sWARNcontroller_managerOverrun might occur, Total time : 1681.497 us (Expected < 1666.667 us) --> Read time : 103.913 us, Update time : 1293.816 us, Write time : 283.768 us + 48.35sWARNros2_control_nodeOverrun might occur, Total time : 1681.497 us (Expected < 1666.667 us) --> Read time : 103.913 us, Update time : 1293.816 us, Write time : 283.768 us[0m ×2 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644107 ms (missed cycles : 3). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644107 ms (missed cycles : 3).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947147 ms (missed cycles : 3). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947147 ms (missed cycles : 3).[0m ×2 + 50.31sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 50.64sWARNcontroller_managerOverrun might occur, Total time : 5113.584 us (Expected < 1666.667 us) --> Read time : 68.712 us, Update time : 4670.561 us, Write time : 374.311 us + 50.64sWARNros2_control_nodeOverrun might occur, Total time : 5113.584 us (Expected < 1666.667 us) --> Read time : 68.712 us, Update time : 4670.561 us, Write time : 374.311 us[0m ×2 + 51.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916435 ms (missed cycles : 2). + 51.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916435 ms (missed cycles : 2).[0m ×2 + 52.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477263 ms (missed cycles : 3). + 52.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477263 ms (missed cycles : 3).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817593 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817593 ms (missed cycles : 2).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066721 ms (missed cycles : 2). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066721 ms (missed cycles : 2).[0m ×2 + 55.10sWARNcontroller_managerOverrun might occur, Total time : 3171.660 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 61.892 us, Write time : 3015.915 us + 55.11sWARNros2_control_nodeOverrun might occur, Total time : 3171.660 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 61.892 us, Write time : 3015.915 us[0m ×2 + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981938 ms (missed cycles : 2). + 55.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981938 ms (missed cycles : 2).[0m ×2 + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565132 ms (missed cycles : 3). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565132 ms (missed cycles : 3).[0m ×2 + 57.31sWARNcontroller_managerOverrun might occur, Total time : 1890.164 us (Expected < 1666.667 us) --> Read time : 95.023 us, Update time : 1539.243 us, Write time : 255.898 us + 57.31sWARNros2_control_nodeOverrun might occur, Total time : 1890.164 us (Expected < 1666.667 us) --> Read time : 95.023 us, Update time : 1539.243 us, Write time : 255.898 us[0m ×2 + 57.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.591190 ms (missed cycles : 6). + 57.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.591190 ms (missed cycles : 6).[0m ×2 + 58.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073329 ms (missed cycles : 4). + 58.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073329 ms (missed cycles : 4).[0m ×2 + 59.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324595 ms (missed cycles : 4). + 59.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324595 ms (missed cycles : 4).[0m ×2 + 60.46sWARNcontroller_managerOverrun might occur, Total time : 3532.308 us (Expected < 1666.667 us) --> Read time : 193.645 us, Update time : 65.791 us, Write time : 3272.872 us + 60.46sWARNros2_control_nodeOverrun might occur, Total time : 3532.308 us (Expected < 1666.667 us) --> Read time : 193.645 us, Update time : 65.791 us, Write time : 3272.872 us[0m ×2 + 60.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041011 ms (missed cycles : 2). + 60.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041011 ms (missed cycles : 2).[0m ×2 + 61.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998932 ms (missed cycles : 3). + 61.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998932 ms (missed cycles : 3).[0m ×2 + 61.97sWARNcontroller_managerOverrun might occur, Total time : 3438.896 us (Expected < 1666.667 us) --> Read time : 376.650 us, Update time : 2836.370 us, Write time : 225.876 us + 61.97sWARNros2_control_nodeOverrun might occur, Total time : 3438.896 us (Expected < 1666.667 us) --> Read time : 376.650 us, Update time : 2836.370 us, Write time : 225.876 us[0m ×2 + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844856 ms (missed cycles : 5). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844856 ms (missed cycles : 5).[0m ×2 + 62.94sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 63.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114746 ms (missed cycles : 3). + 63.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114746 ms (missed cycles : 3).[0m ×2 + 64.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658003 ms (missed cycles : 3). + 64.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658003 ms (missed cycles : 3).[0m ×2 + 65.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446441 ms (missed cycles : 4). + 65.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446441 ms (missed cycles : 4).[0m ×2 + 66.03sWARNcontroller_managerOverrun might occur, Total time : 2455.140 us (Expected < 1666.667 us) --> Read time : 130.214 us, Update time : 2072.229 us, Write time : 252.697 us + 66.03sWARNros2_control_nodeOverrun might occur, Total time : 2455.140 us (Expected < 1666.667 us) --> Read time : 130.214 us, Update time : 2072.229 us, Write time : 252.697 us[0m ×2 + 66.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827898 ms (missed cycles : 2). + 66.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.827898 ms (missed cycles : 2).[0m ×2 + 68.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848857 ms (missed cycles : 2). + 68.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848857 ms (missed cycles : 2).[0m ×2 + 68.54sWARNcontroller_managerOverrun might occur, Total time : 3095.267 us (Expected < 1666.667 us) --> Read time : 100.673 us, Update time : 2647.575 us, Write time : 347.019 us + 68.54sWARNros2_control_nodeOverrun might occur, Total time : 3095.267 us (Expected < 1666.667 us) --> Read time : 100.673 us, Update time : 2647.575 us, Write time : 347.019 us[0m ×2 + 69.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219334 ms (missed cycles : 2). + 69.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.219334 ms (missed cycles : 2).[0m ×2 + 70.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126047 ms (missed cycles : 4). + 70.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126047 ms (missed cycles : 4).[0m ×2 + 70.82sWARNcontroller_managerOverrun might occur, Total time : 3257.492 us (Expected < 1666.667 us) --> Read time : 120.624 us, Update time : 2882.770 us, Write time : 254.098 us + 70.82sWARNros2_control_nodeOverrun might occur, Total time : 3257.492 us (Expected < 1666.667 us) --> Read time : 120.624 us, Update time : 2882.770 us, Write time : 254.098 us[0m ×2 + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384506 ms (missed cycles : 2). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384506 ms (missed cycles : 2).[0m ×2 + 72.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 72.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 73.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 73.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 74.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 74.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 74.50sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 74.50sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 75.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 75.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 75.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 76.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 76.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 76.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 76.55sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 77.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 77.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 77.96sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 77.96sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 78.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 78.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.7s | 252 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 0.70sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781412049.20214128 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781412049.74233747 seconds. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668159 ms (missed cycles : 3). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668159 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635082 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635082 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun might occur, Total time : 3089.438 us (Expected < 1666.667 us) --> Read time : 106.233 us, Update time : 2758.278 us, Write time : 224.927 us + 9.62sWARNros2_control_nodeOverrun might occur, Total time : 3089.438 us (Expected < 1666.667 us) --> Read time : 106.233 us, Update time : 2758.278 us, Write time : 224.927 us[0m ×2 + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397607 ms (missed cycles : 3). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397607 ms (missed cycles : 3).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288145 ms (missed cycles : 4). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288145 ms (missed cycles : 4).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345249 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345249 ms (missed cycles : 2).[0m ×2 + 12.34sWARNcontroller_managerOverrun might occur, Total time : 5256.969 us (Expected < 1666.667 us) --> Read time : 92.663 us, Update time : 4921.299 us, Write time : 243.007 us + 12.34sWARNros2_control_nodeOverrun might occur, Total time : 5256.969 us (Expected < 1666.667 us) --> Read time : 92.663 us, Update time : 4921.299 us, Write time : 243.007 us[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009217 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009217 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480820 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480820 ms (missed cycles : 3).[0m ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918973 ms (missed cycles : 2). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918973 ms (missed cycles : 2).[0m ×2 + 16.36sWARNcontroller_managerOverrun might occur, Total time : 3951.042 us (Expected < 1666.667 us) --> Read time : 88.883 us, Update time : 3550.730 us, Write time : 311.429 us + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125185 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun might occur, Total time : 3951.042 us (Expected < 1666.667 us) --> Read time : 88.883 us, Update time : 3550.730 us, Write time : 311.429 us[0m ×2 + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125185 ms (missed cycles : 3).[0m ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553467 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553467 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun might occur, Total time : 2469.129 us (Expected < 1666.667 us) --> Read time : 70.032 us, Update time : 2138.580 us, Write time : 260.517 us + 17.55sWARNros2_control_nodeOverrun might occur, Total time : 2469.129 us (Expected < 1666.667 us) --> Read time : 70.032 us, Update time : 2138.580 us, Write time : 260.517 us[0m ×2 + 17.90sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770625 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770625 ms (missed cycles : 2).[0m ×2 + 18.87sWARNcontroller_managerOverrun might occur, Total time : 3880.378 us (Expected < 1666.667 us) --> Read time : 77.502 us, Update time : 239.536 us, Write time : 3563.340 us + 18.87sWARNros2_control_nodeOverrun might occur, Total time : 3880.378 us (Expected < 1666.667 us) --> Read time : 77.502 us, Update time : 239.536 us, Write time : 3563.340 us[0m ×2 + 19.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780117 ms (missed cycles : 3). + 19.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780117 ms (missed cycles : 3).[0m ×2 + 20.70sWARNcontroller_managerOverrun might occur, Total time : 1813.151 us (Expected < 1666.667 us) --> Read time : 400.021 us, Update time : 373.271 us, Write time : 1039.859 us + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081252 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun might occur, Total time : 1813.151 us (Expected < 1666.667 us) --> Read time : 400.021 us, Update time : 373.271 us, Write time : 1039.859 us[0m ×2 + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081252 ms (missed cycles : 2).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487444 ms (missed cycles : 4). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487444 ms (missed cycles : 4).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582066 ms (missed cycles : 6). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582066 ms (missed cycles : 6).[0m ×2 + 23.08sWARNcontroller_managerOverrun might occur, Total time : 3104.277 us (Expected < 1666.667 us) --> Read time : 87.712 us, Update time : 2748.467 us, Write time : 268.098 us + 23.08sWARNros2_control_nodeOverrun might occur, Total time : 3104.277 us (Expected < 1666.667 us) --> Read time : 87.712 us, Update time : 2748.467 us, Write time : 268.098 us[0m ×2 + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961794 ms (missed cycles : 2). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961794 ms (missed cycles : 2).[0m ×2 + 24.67sWARNcontroller_managerOverrun might occur, Total time : 1775.621 us (Expected < 1666.667 us) --> Read time : 101.363 us, Update time : 1420.150 us, Write time : 254.108 us + 24.67sWARNros2_control_nodeOverrun might occur, Total time : 1775.621 us (Expected < 1666.667 us) --> Read time : 101.363 us, Update time : 1420.150 us, Write time : 254.108 us[0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984326 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984326 ms (missed cycles : 2).[0m ×2 + 26.02sWARNcontroller_managerOverrun might occur, Total time : 2487.530 us (Expected < 1666.667 us) --> Read time : 2066.848 us, Update time : 139.194 us, Write time : 281.488 us + 26.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676818 ms (missed cycles : 2). + 26.02sWARNros2_control_nodeOverrun might occur, Total time : 2487.530 us (Expected < 1666.667 us) --> Read time : 2066.848 us, Update time : 139.194 us, Write time : 281.488 us[0m ×2 + 26.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676818 ms (missed cycles : 2).[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441778 ms (missed cycles : 6). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.441778 ms (missed cycles : 6).[0m ×2 + 27.51sWARNcontroller_managerOverrun might occur, Total time : 4205.188 us (Expected < 1666.667 us) --> Read time : 138.554 us, Update time : 3756.816 us, Write time : 309.818 us + 27.51sWARNros2_control_nodeOverrun might occur, Total time : 4205.188 us (Expected < 1666.667 us) --> Read time : 138.554 us, Update time : 3756.816 us, Write time : 309.818 us[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400259 ms (missed cycles : 4). + 28.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400259 ms (missed cycles : 4).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895908 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895908 ms (missed cycles : 2).[0m ×2 + 29.58sWARNcontroller_managerOverrun might occur, Total time : 1758.161 us (Expected < 1666.667 us) --> Read time : 86.593 us, Update time : 1440.821 us, Write time : 230.747 us + 29.58sWARNros2_control_nodeOverrun might occur, Total time : 1758.161 us (Expected < 1666.667 us) --> Read time : 86.593 us, Update time : 1440.821 us, Write time : 230.747 us[0m ×2 + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448334 ms (missed cycles : 4). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448334 ms (missed cycles : 4).[0m ×2 + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224453 ms (missed cycles : 5). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.224453 ms (missed cycles : 5).[0m ×2 + 31.70sWARNcontroller_managerOverrun might occur, Total time : 2227.603 us (Expected < 1666.667 us) --> Read time : 96.013 us, Update time : 158.364 us, Write time : 1973.226 us + 31.70sWARNros2_control_nodeOverrun might occur, Total time : 2227.603 us (Expected < 1666.667 us) --> Read time : 96.013 us, Update time : 158.364 us, Write time : 1973.226 us[0m ×2 + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663863 ms (missed cycles : 4). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663863 ms (missed cycles : 4).[0m ×2 + 33.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894166 ms (missed cycles : 2). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894166 ms (missed cycles : 2).[0m ×2 + 34.19sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797667 ms (missed cycles : 2). + 34.71sWARNcontroller_managerOverrun might occur, Total time : 4275.340 us (Expected < 1666.667 us) --> Read time : 82.812 us, Update time : 3838.348 us, Write time : 354.180 us + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797667 ms (missed cycles : 2).[0m ×2 + 34.71sWARNros2_control_nodeOverrun might occur, Total time : 4275.340 us (Expected < 1666.667 us) --> Read time : 82.812 us, Update time : 3838.348 us, Write time : 354.180 us[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694513 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.694513 ms (missed cycles : 2).[0m ×2 + 36.41sWARNcontroller_managerOverrun might occur, Total time : 2054.178 us (Expected < 1666.667 us) --> Read time : 1760.220 us, Update time : 91.962 us, Write time : 201.996 us + 36.41sWARNros2_control_nodeOverrun might occur, Total time : 2054.178 us (Expected < 1666.667 us) --> Read time : 1760.220 us, Update time : 91.962 us, Write time : 201.996 us[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698302 ms (missed cycles : 4). + 36.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698302 ms (missed cycles : 4).[0m ×2 + 37.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647999 ms (missed cycles : 3). + 37.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647999 ms (missed cycles : 3).[0m ×2 + 39.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890799 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.890799 ms (missed cycles : 3).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712524 ms (missed cycles : 2). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712524 ms (missed cycles : 2).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383424 ms (missed cycles : 2). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.383424 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393135 ms (missed cycles : 3). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393135 ms (missed cycles : 3).[0m ×2 + 43.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634801 ms (missed cycles : 3). + 43.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634801 ms (missed cycles : 3).[0m ×2 + 43.52sWARNcontroller_managerOverrun might occur, Total time : 2191.612 us (Expected < 1666.667 us) --> Read time : 81.602 us, Update time : 81.432 us, Write time : 2028.578 us + 43.53sWARNros2_control_nodeOverrun might occur, Total time : 2191.612 us (Expected < 1666.667 us) --> Read time : 81.602 us, Update time : 81.432 us, Write time : 2028.578 us[0m ×2 + 44.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211551 ms (missed cycles : 2). + 44.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211551 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun might occur, Total time : 2001.746 us (Expected < 1666.667 us) --> Read time : 110.073 us, Update time : 91.933 us, Write time : 1799.740 us + 44.97sWARNros2_control_nodeOverrun might occur, Total time : 2001.746 us (Expected < 1666.667 us) --> Read time : 110.073 us, Update time : 91.933 us, Write time : 1799.740 us[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527487 ms (missed cycles : 4). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.527487 ms (missed cycles : 4).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762875 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762875 ms (missed cycles : 2).[0m ×2 + 46.82sWARNcontroller_managerOverrun might occur, Total time : 1781.240 us (Expected < 1666.667 us) --> Read time : 1399.639 us, Update time : 119.043 us, Write time : 262.558 us + 46.82sWARNros2_control_nodeOverrun might occur, Total time : 1781.240 us (Expected < 1666.667 us) --> Read time : 1399.639 us, Update time : 119.043 us, Write time : 262.558 us[0m ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130399 ms (missed cycles : 4). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.130399 ms (missed cycles : 4).[0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855193 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855193 ms (missed cycles : 2).[0m ×2 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671343 ms (missed cycles : 3). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671343 ms (missed cycles : 3).[0m ×2 + 49.71sWARNcontroller_managerOverrun might occur, Total time : 2543.212 us (Expected < 1666.667 us) --> Read time : 95.663 us, Update time : 2163.821 us, Write time : 283.728 us + 49.71sWARNros2_control_nodeOverrun might occur, Total time : 2543.212 us (Expected < 1666.667 us) --> Read time : 95.663 us, Update time : 2163.821 us, Write time : 283.728 us[0m ×2 + 50.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393540 ms (missed cycles : 3). + 50.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393540 ms (missed cycles : 3).[0m ×2 + 51.50sWARNcontroller_managerOverrun might occur, Total time : 2894.811 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 2544.261 us, Write time : 256.697 us + 51.50sWARNros2_control_nodeOverrun might occur, Total time : 2894.811 us (Expected < 1666.667 us) --> Read time : 93.853 us, Update time : 2544.261 us, Write time : 256.697 us[0m ×2 + 51.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153649 ms (missed cycles : 2). + 51.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153649 ms (missed cycles : 2).[0m ×2 + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432106 ms (missed cycles : 3). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432106 ms (missed cycles : 3).[0m ×2 + 53.11sWARNcontroller_managerOverrun might occur, Total time : 2573.772 us (Expected < 1666.667 us) --> Read time : 120.253 us, Update time : 54.822 us, Write time : 2398.697 us + 53.12sWARNros2_control_nodeOverrun might occur, Total time : 2573.772 us (Expected < 1666.667 us) --> Read time : 120.253 us, Update time : 54.822 us, Write time : 2398.697 us[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278178 ms (missed cycles : 2). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278178 ms (missed cycles : 2).[0m ×2 + 54.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471818 ms (missed cycles : 4). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.471818 ms (missed cycles : 4).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636215 ms (missed cycles : 3). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636215 ms (missed cycles : 3).[0m ×2 + 57.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 57.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 59.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 59.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 59.49sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 59.50sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 60.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 60.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 60.20sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 60.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 61.05sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 61.07sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 61.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 61.69sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 61.69sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 62.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 62.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 63.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 63.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 240 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.46sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782675 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782675 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254954 ms (missed cycles : 5). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.254954 ms (missed cycles : 5).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056350 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056350 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612943 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612943 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399521 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399521 ms (missed cycles : 2).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212028 ms (missed cycles : 4). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.212028 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528340 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528340 ms (missed cycles : 2).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706777 ms (missed cycles : 3). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706777 ms (missed cycles : 3).[0m ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381001 ms (missed cycles : 3). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381001 ms (missed cycles : 3).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642443 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642443 ms (missed cycles : 3).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346739 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346739 ms (missed cycles : 2).[0m ×2 + 18.60sWARNcontroller_managerOverrun might occur, Total time : 3700.994 us (Expected < 1666.667 us) --> Read time : 132.494 us, Update time : 3310.653 us, Write time : 257.847 us + 18.60sWARNros2_control_nodeOverrun might occur, Total time : 3700.994 us (Expected < 1666.667 us) --> Read time : 132.494 us, Update time : 3310.653 us, Write time : 257.847 us[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801096 ms (missed cycles : 3). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801096 ms (missed cycles : 3).[0m ×2 + 19.60sWARNcontroller_managerOverrun might occur, Total time : 1788.520 us (Expected < 1666.667 us) --> Read time : 100.893 us, Update time : 128.283 us, Write time : 1559.344 us + 19.61sWARNros2_control_nodeOverrun might occur, Total time : 1788.520 us (Expected < 1666.667 us) --> Read time : 100.893 us, Update time : 128.283 us, Write time : 1559.344 us[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341505 ms (missed cycles : 4). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341505 ms (missed cycles : 4).[0m ×2 + 20.86sWARNcontroller_managerOverrun might occur, Total time : 1874.583 us (Expected < 1666.667 us) --> Read time : 93.982 us, Update time : 1498.363 us, Write time : 282.238 us + 20.86sWARNros2_control_nodeOverrun might occur, Total time : 1874.583 us (Expected < 1666.667 us) --> Read time : 93.982 us, Update time : 1498.363 us, Write time : 282.238 us[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073428 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073428 ms (missed cycles : 2).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033936 ms (missed cycles : 3). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.033936 ms (missed cycles : 3).[0m ×2 + 22.48sWARNcontroller_managerOverrun might occur, Total time : 1729.209 us (Expected < 1666.667 us) --> Read time : 88.582 us, Update time : 69.292 us, Write time : 1571.335 us + 22.48sWARNros2_control_nodeOverrun might occur, Total time : 1729.209 us (Expected < 1666.667 us) --> Read time : 88.582 us, Update time : 69.292 us, Write time : 1571.335 us[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800474 ms (missed cycles : 3). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800474 ms (missed cycles : 3).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484274 ms (missed cycles : 4). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484274 ms (missed cycles : 4).[0m ×2 + 25.40sWARNcontroller_managerOverrun might occur, Total time : 3900.740 us (Expected < 1666.667 us) --> Read time : 90.373 us, Update time : 3477.728 us, Write time : 332.639 us + 25.41sWARNros2_control_nodeOverrun might occur, Total time : 3900.740 us (Expected < 1666.667 us) --> Read time : 90.373 us, Update time : 3477.728 us, Write time : 332.639 us[0m ×2 + 26.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537214 ms (missed cycles : 4). + 26.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.537214 ms (missed cycles : 4).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349407 ms (missed cycles : 4). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349407 ms (missed cycles : 4).[0m ×2 + 27.77sWARNcontroller_managerOverrun might occur, Total time : 4996.901 us (Expected < 1666.667 us) --> Read time : 88.032 us, Update time : 4635.071 us, Write time : 273.798 us + 27.77sWARNros2_control_nodeOverrun might occur, Total time : 4996.901 us (Expected < 1666.667 us) --> Read time : 88.032 us, Update time : 4635.071 us, Write time : 273.798 us[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020428 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020428 ms (missed cycles : 2).[0m ×2 + 29.22sWARNcontroller_managerOverrun might occur, Total time : 5415.842 us (Expected < 1666.667 us) --> Read time : 88.483 us, Update time : 5053.872 us, Write time : 273.487 us + 29.22sWARNros2_control_nodeOverrun might occur, Total time : 5415.842 us (Expected < 1666.667 us) --> Read time : 88.483 us, Update time : 5053.872 us, Write time : 273.487 us[0m ×2 + 29.47sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871943 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871943 ms (missed cycles : 2).[0m ×2 + 30.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767585 ms (missed cycles : 2). + 30.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767585 ms (missed cycles : 2).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537588 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537588 ms (missed cycles : 2).[0m ×2 + 32.08sWARNcontroller_managerOverrun might occur, Total time : 4412.415 us (Expected < 1666.667 us) --> Read time : 96.613 us, Update time : 4002.633 us, Write time : 313.169 us + 32.09sWARNros2_control_nodeOverrun might occur, Total time : 4412.415 us (Expected < 1666.667 us) --> Read time : 96.613 us, Update time : 4002.633 us, Write time : 313.169 us[0m ×2 + 32.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097429 ms (missed cycles : 2). + 32.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097429 ms (missed cycles : 2).[0m ×2 + 32.66sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006886 ms (missed cycles : 4). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006886 ms (missed cycles : 4).[0m ×2 + 34.58sWARNcontroller_managerOverrun might occur, Total time : 1881.143 us (Expected < 1666.667 us) --> Read time : 83.652 us, Update time : 1589.455 us, Write time : 208.036 us + 34.58sWARNros2_control_nodeOverrun might occur, Total time : 1881.143 us (Expected < 1666.667 us) --> Read time : 83.652 us, Update time : 1589.455 us, Write time : 208.036 us[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216352 ms (missed cycles : 2). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216352 ms (missed cycles : 2).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670030 ms (missed cycles : 3). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670030 ms (missed cycles : 3).[0m ×2 + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705559 ms (missed cycles : 3). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705559 ms (missed cycles : 3).[0m ×2 + 37.89sWARNcontroller_managerOverrun might occur, Total time : 2783.867 us (Expected < 1666.667 us) --> Read time : 117.063 us, Update time : 2422.408 us, Write time : 244.396 us + 37.89sWARNros2_control_nodeOverrun might occur, Total time : 2783.867 us (Expected < 1666.667 us) --> Read time : 117.063 us, Update time : 2422.408 us, Write time : 244.396 us[0m ×2 + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609272 ms (missed cycles : 2). + 37.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609272 ms (missed cycles : 2).[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802104 ms (missed cycles : 3). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802104 ms (missed cycles : 3).[0m ×2 + 39.31sWARNcontroller_managerOverrun might occur, Total time : 2443.118 us (Expected < 1666.667 us) --> Read time : 85.752 us, Update time : 2143.710 us, Write time : 213.656 us + 39.31sWARNros2_control_nodeOverrun might occur, Total time : 2443.118 us (Expected < 1666.667 us) --> Read time : 85.752 us, Update time : 2143.710 us, Write time : 213.656 us[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484260 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484260 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun might occur, Total time : 1721.378 us (Expected < 1666.667 us) --> Read time : 111.103 us, Update time : 1428.790 us, Write time : 181.485 us + 40.73sWARNros2_control_nodeOverrun might occur, Total time : 1721.378 us (Expected < 1666.667 us) --> Read time : 111.103 us, Update time : 1428.790 us, Write time : 181.485 us[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297180 ms (missed cycles : 4). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.297180 ms (missed cycles : 4).[0m ×2 + 42.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775697 ms (missed cycles : 3). + 42.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775697 ms (missed cycles : 3).[0m ×2 + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139657 ms (missed cycles : 4). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139657 ms (missed cycles : 4).[0m ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513858 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513858 ms (missed cycles : 2).[0m ×2 + 45.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658536 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658536 ms (missed cycles : 2).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314252 ms (missed cycles : 4). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314252 ms (missed cycles : 4).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692492 ms (missed cycles : 2). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692492 ms (missed cycles : 2).[0m ×2 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711759 ms (missed cycles : 3). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711759 ms (missed cycles : 3).[0m ×2 + 48.51sWARNcontroller_managerOverrun might occur, Total time : 1985.475 us (Expected < 1666.667 us) --> Read time : 114.773 us, Update time : 325.269 us, Write time : 1545.433 us + 48.51sWARNros2_control_nodeOverrun might occur, Total time : 1985.475 us (Expected < 1666.667 us) --> Read time : 114.773 us, Update time : 325.269 us, Write time : 1545.433 us[0m ×2 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399956 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399956 ms (missed cycles : 3).[0m ×2 + 49.80sWARNcontroller_managerOverrun might occur, Total time : 1832.021 us (Expected < 1666.667 us) --> Read time : 109.743 us, Update time : 118.893 us, Write time : 1603.385 us + 49.80sWARNros2_control_nodeOverrun might occur, Total time : 1832.021 us (Expected < 1666.667 us) --> Read time : 109.743 us, Update time : 118.893 us, Write time : 1603.385 us[0m ×2 + 50.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715397 ms (missed cycles : 3). + 50.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715397 ms (missed cycles : 3).[0m ×2 + 51.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185622 ms (missed cycles : 3). + 51.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185622 ms (missed cycles : 3).[0m ×2 + 52.56sWARNcontroller_managerOverrun might occur, Total time : 7646.325 us (Expected < 1666.667 us) --> Read time : 104.963 us, Update time : 7177.172 us, Write time : 364.190 us + 52.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870720 ms (missed cycles : 5). + 52.56sWARNros2_control_nodeOverrun might occur, Total time : 7646.325 us (Expected < 1666.667 us) --> Read time : 104.963 us, Update time : 7177.172 us, Write time : 364.190 us[0m ×2 + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.870720 ms (missed cycles : 5).[0m ×2 + 53.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984930 ms (missed cycles : 2). + 53.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984930 ms (missed cycles : 2).[0m ×2 + 54.56sWARNcontroller_managerOverrun might occur, Total time : 4248.200 us (Expected < 1666.667 us) --> Read time : 99.033 us, Update time : 57.701 us, Write time : 4091.466 us + 54.56sWARNros2_control_nodeOverrun might occur, Total time : 4248.200 us (Expected < 1666.667 us) --> Read time : 99.033 us, Update time : 57.701 us, Write time : 4091.466 us[0m ×2 + 54.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027201 ms (missed cycles : 2). + 54.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027201 ms (missed cycles : 2).[0m ×2 + 55.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660254 ms (missed cycles : 4). + 55.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660254 ms (missed cycles : 4).[0m ×2 + 56.08sWARNcontroller_managerOverrun might occur, Total time : 4048.644 us (Expected < 1666.667 us) --> Read time : 81.562 us, Update time : 3688.784 us, Write time : 278.298 us + 56.08sWARNros2_control_nodeOverrun might occur, Total time : 4048.644 us (Expected < 1666.667 us) --> Read time : 81.562 us, Update time : 3688.784 us, Write time : 278.298 us[0m ×2 + 56.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.570196 ms (missed cycles : 6). + 56.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.570196 ms (missed cycles : 6).[0m ×2 + 57.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191613 ms (missed cycles : 2). + 57.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191613 ms (missed cycles : 2).[0m ×2 + 58.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781412332.63154554 seconds ×3 + 58.83sWARNcontroller_managerOverrun might occur, Total time : 3230.461 us (Expected < 1666.667 us) --> Read time : 81.342 us, Update time : 2842.611 us, Write time : 306.508 us + 58.83sWARNros2_control_nodeOverrun might occur, Total time : 3230.461 us (Expected < 1666.667 us) --> Read time : 81.342 us, Update time : 2842.611 us, Write time : 306.508 us[0m ×2 + 58.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657568 ms (missed cycles : 3). + 58.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657568 ms (missed cycles : 3).[0m ×2 + 59.01sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781412333.18388057 seconds. ×3 + 59.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 59.31sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.02sWARNcontroller_managerOverrun might occur, Total time : 2541.842 us (Expected < 1666.667 us) --> Read time : 119.304 us, Update time : 2135.900 us, Write time : 286.638 us + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789773 ms (missed cycles : 2). + 60.02sWARNros2_control_nodeOverrun might occur, Total time : 2541.842 us (Expected < 1666.667 us) --> Read time : 119.304 us, Update time : 2135.900 us, Write time : 286.638 us[0m ×2 + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789773 ms (missed cycles : 2).[0m ×2 + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635090 ms (missed cycles : 4). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635090 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.7s | 249 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.40sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781412141.89247012 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781412142.43857908 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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.34sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.34sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 1847.612 us (Expected < 1666.667 us) --> Read time : 102.203 us, Update time : 1508.393 us, Write time : 237.016 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 1847.612 us (Expected < 1666.667 us) --> Read time : 102.203 us, Update time : 1508.393 us, Write time : 237.016 us[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380451 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.380451 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532208 ms (missed cycles : 3). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532208 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862388 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862388 ms (missed cycles : 2).[0m ×2 + 9.65sWARNcontroller_managerOverrun might occur, Total time : 2396.839 us (Expected < 1666.667 us) --> Read time : 99.603 us, Update time : 2029.978 us, Write time : 267.258 us + 9.65sWARNros2_control_nodeOverrun might occur, Total time : 2396.839 us (Expected < 1666.667 us) --> Read time : 99.603 us, Update time : 2029.978 us, Write time : 267.258 us[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633686 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.633686 ms (missed cycles : 4).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651769 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651769 ms (missed cycles : 2).[0m ×2 + 12.16sWARNcontroller_managerOverrun might occur, Total time : 1974.636 us (Expected < 1666.667 us) --> Read time : 102.723 us, Update time : 1611.105 us, Write time : 260.808 us + 12.16sWARNros2_control_nodeOverrun might occur, Total time : 1974.636 us (Expected < 1666.667 us) --> Read time : 102.723 us, Update time : 1611.105 us, Write time : 260.808 us[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562511 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562511 ms (missed cycles : 3).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237080 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237080 ms (missed cycles : 2).[0m ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593379 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.593379 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun might occur, Total time : 2256.154 us (Expected < 1666.667 us) --> Read time : 150.264 us, Update time : 84.343 us, Write time : 2021.547 us + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778683 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun might occur, Total time : 2256.154 us (Expected < 1666.667 us) --> Read time : 150.264 us, Update time : 84.343 us, Write time : 2021.547 us[0m ×2 + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778683 ms (missed cycles : 2).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203376 ms (missed cycles : 5). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.203376 ms (missed cycles : 5).[0m ×2 + 17.55sWARNcontroller_managerOverrun might occur, Total time : 1681.817 us (Expected < 1666.667 us) --> Read time : 127.294 us, Update time : 1290.556 us, Write time : 263.967 us + 17.55sWARNros2_control_nodeOverrun might occur, Total time : 1681.817 us (Expected < 1666.667 us) --> Read time : 127.294 us, Update time : 1290.556 us, Write time : 263.967 us[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707293 ms (missed cycles : 2). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707293 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun might occur, Total time : 4619.060 us (Expected < 1666.667 us) --> Read time : 156.385 us, Update time : 116.623 us, Write time : 4346.052 us + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354279 ms (missed cycles : 4). + 19.23sWARNros2_control_nodeOverrun might occur, Total time : 4619.060 us (Expected < 1666.667 us) --> Read time : 156.385 us, Update time : 116.623 us, Write time : 4346.052 us[0m ×2 + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354279 ms (missed cycles : 4).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582350 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.582350 ms (missed cycles : 3).[0m ×2 + 20.58sWARNcontroller_managerOverrun might occur, Total time : 6010.759 us (Expected < 1666.667 us) --> Read time : 102.423 us, Update time : 5450.293 us, Write time : 458.043 us + 20.58sWARNros2_control_nodeOverrun might occur, Total time : 6010.759 us (Expected < 1666.667 us) --> Read time : 102.423 us, Update time : 5450.293 us, Write time : 458.043 us[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826754 ms (missed cycles : 2). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826754 ms (missed cycles : 2).[0m ×2 + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200534 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200534 ms (missed cycles : 2).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600685 ms (missed cycles : 2). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600685 ms (missed cycles : 2).[0m ×2 + 23.98sWARNcontroller_managerOverrun might occur, Total time : 1952.695 us (Expected < 1666.667 us) --> Read time : 78.792 us, Update time : 137.554 us, Write time : 1736.349 us + 23.98sWARNros2_control_nodeOverrun might occur, Total time : 1952.695 us (Expected < 1666.667 us) --> Read time : 78.792 us, Update time : 137.554 us, Write time : 1736.349 us[0m ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324380 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324380 ms (missed cycles : 2).[0m ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121756 ms (missed cycles : 5). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.121756 ms (missed cycles : 5).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219128 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219128 ms (missed cycles : 2).[0m ×2 + 27.04sWARNcontroller_managerOverrun might occur, Total time : 1700.777 us (Expected < 1666.667 us) --> Read time : 75.062 us, Update time : 1404.289 us, Write time : 221.426 us + 27.04sWARNros2_control_nodeOverrun might occur, Total time : 1700.777 us (Expected < 1666.667 us) --> Read time : 75.062 us, Update time : 1404.289 us, Write time : 221.426 us[0m ×2 + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184678 ms (missed cycles : 3). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184678 ms (missed cycles : 3).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523648 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523648 ms (missed cycles : 3).[0m ×2 + 29.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461016 ms (missed cycles : 2). + 29.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461016 ms (missed cycles : 2).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754207 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754207 ms (missed cycles : 2).[0m ×2 + 30.81sWARNcontroller_managerOverrun might occur, Total time : 1670.767 us (Expected < 1666.667 us) --> Read time : 109.103 us, Update time : 1330.297 us, Write time : 231.367 us + 30.81sWARNros2_control_nodeOverrun might occur, Total time : 1670.767 us (Expected < 1666.667 us) --> Read time : 109.103 us, Update time : 1330.297 us, Write time : 231.367 us[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970679 ms (missed cycles : 3). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.970679 ms (missed cycles : 3).[0m ×2 + 32.31sWARNcontroller_managerOverrun might occur, Total time : 9286.361 us (Expected < 1666.667 us) --> Read time : 8873.000 us, Update time : 130.683 us, Write time : 282.678 us + 32.31sWARNros2_control_nodeOverrun might occur, Total time : 9286.361 us (Expected < 1666.667 us) --> Read time : 8873.000 us, Update time : 130.683 us, Write time : 282.678 us[0m ×2 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814650 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814650 ms (missed cycles : 2).[0m ×2 + 32.89sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.50sWARNcontroller_managerOverrun might occur, Total time : 1757.380 us (Expected < 1666.667 us) --> Read time : 127.854 us, Update time : 964.077 us, Write time : 665.449 us + 33.50sWARNros2_control_nodeOverrun might occur, Total time : 1757.380 us (Expected < 1666.667 us) --> Read time : 127.854 us, Update time : 964.077 us, Write time : 665.449 us[0m ×2 + 33.53sINFOobjective_server_nodePlanning for 52 path waypoints. ×3 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985836 ms (missed cycles : 2). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985836 ms (missed cycles : 2).[0m ×2 + 34.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760752 ms (missed cycles : 2). + 34.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760752 ms (missed cycles : 2).[0m ×2 + 36.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796524 ms (missed cycles : 3). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796524 ms (missed cycles : 3).[0m ×2 + 36.29sWARNcontroller_managerOverrun might occur, Total time : 2162.081 us (Expected < 1666.667 us) --> Read time : 1794.521 us, Update time : 89.272 us, Write time : 278.288 us + 36.30sWARNros2_control_nodeOverrun might occur, Total time : 2162.081 us (Expected < 1666.667 us) --> Read time : 1794.521 us, Update time : 89.272 us, Write time : 278.288 us[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202895 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.202895 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun might occur, Total time : 2559.952 us (Expected < 1666.667 us) --> Read time : 99.893 us, Update time : 2215.212 us, Write time : 244.847 us + 37.78sWARNros2_control_nodeOverrun might occur, Total time : 2559.952 us (Expected < 1666.667 us) --> Read time : 99.893 us, Update time : 2215.212 us, Write time : 244.847 us[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969847 ms (missed cycles : 2). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969847 ms (missed cycles : 2).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697288 ms (missed cycles : 2). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697288 ms (missed cycles : 2).[0m ×2 + 40.03sWARNcontroller_managerOverrun might occur, Total time : 2602.833 us (Expected < 1666.667 us) --> Read time : 95.133 us, Update time : 198.665 us, Write time : 2309.035 us + 40.03sWARNros2_control_nodeOverrun might occur, Total time : 2602.833 us (Expected < 1666.667 us) --> Read time : 95.133 us, Update time : 198.665 us, Write time : 2309.035 us[0m ×2 + 40.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597506 ms (missed cycles : 2). + 40.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597506 ms (missed cycles : 2).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.031026 ms (missed cycles : 9). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.031026 ms (missed cycles : 9).[0m ×2 + 42.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795072 ms (missed cycles : 4). + 42.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795072 ms (missed cycles : 4).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738459 ms (missed cycles : 2). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738459 ms (missed cycles : 2).[0m ×2 + 43.55sWARNcontroller_managerOverrun might occur, Total time : 1728.299 us (Expected < 1666.667 us) --> Read time : 115.974 us, Update time : 1396.569 us, Write time : 215.756 us + 43.55sWARNros2_control_nodeOverrun might occur, Total time : 1728.299 us (Expected < 1666.667 us) --> Read time : 115.974 us, Update time : 1396.569 us, Write time : 215.756 us[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761689 ms (missed cycles : 2). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.761689 ms (missed cycles : 2).[0m ×2 + 44.95sWARNcontroller_managerOverrun might occur, Total time : 3929.741 us (Expected < 1666.667 us) --> Read time : 164.975 us, Update time : 3386.356 us, Write time : 378.410 us + 44.95sWARNros2_control_nodeOverrun might occur, Total time : 3929.741 us (Expected < 1666.667 us) --> Read time : 164.975 us, Update time : 3386.356 us, Write time : 378.410 us[0m ×2 + 45.20sINFOros2_control_nodeMuJoCo sim: 0.10% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790371 ms (missed cycles : 2). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790371 ms (missed cycles : 2).[0m ×2 + 46.05sWARNcontroller_managerOverrun might occur, Total time : 2959.723 us (Expected < 1666.667 us) --> Read time : 151.864 us, Update time : 160.205 us, Write time : 2647.654 us + 46.05sWARNros2_control_nodeOverrun might occur, Total time : 2959.723 us (Expected < 1666.667 us) --> Read time : 151.864 us, Update time : 160.205 us, Write time : 2647.654 us[0m ×2 + 46.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076926 ms (missed cycles : 4). + 46.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076926 ms (missed cycles : 4).[0m ×2 + 47.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942711 ms (missed cycles : 4). + 47.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.942711 ms (missed cycles : 4).[0m ×2 + 48.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580519 ms (missed cycles : 3). + 48.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580519 ms (missed cycles : 3).[0m ×2 + 49.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789785 ms (missed cycles : 5). + 49.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.789785 ms (missed cycles : 5).[0m ×2 + 50.10sWARNcontroller_managerOverrun might occur, Total time : 1785.530 us (Expected < 1666.667 us) --> Read time : 111.063 us, Update time : 1441.031 us, Write time : 233.436 us + 50.10sWARNros2_control_nodeOverrun might occur, Total time : 1785.530 us (Expected < 1666.667 us) --> Read time : 111.063 us, Update time : 1441.031 us, Write time : 233.436 us[0m ×2 + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766757 ms (missed cycles : 2). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766757 ms (missed cycles : 2).[0m ×2 + 51.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068373 ms (missed cycles : 5). + 51.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068373 ms (missed cycles : 5).[0m ×2 + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724842 ms (missed cycles : 5). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724842 ms (missed cycles : 5).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707738 ms (missed cycles : 2). + 53.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707738 ms (missed cycles : 2).[0m ×2 + 54.11sWARNcontroller_managerOverrun might occur, Total time : 3191.710 us (Expected < 1666.667 us) --> Read time : 177.855 us, Update time : 2722.447 us, Write time : 291.408 us + 54.11sWARNros2_control_nodeOverrun might occur, Total time : 3191.710 us (Expected < 1666.667 us) --> Read time : 177.855 us, Update time : 2722.447 us, Write time : 291.408 us[0m ×2 + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131094 ms (missed cycles : 5). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131094 ms (missed cycles : 5).[0m ×2 + 55.46sWARNcontroller_managerOverrun might occur, Total time : 2053.208 us (Expected < 1666.667 us) --> Read time : 98.093 us, Update time : 103.543 us, Write time : 1851.572 us + 55.46sWARNros2_control_nodeOverrun might occur, Total time : 2053.208 us (Expected < 1666.667 us) --> Read time : 98.093 us, Update time : 103.543 us, Write time : 1851.572 us[0m ×2 + 56.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781412194.61872506 seconds ×3 + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.122970 ms (missed cycles : 9). + 56.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.122970 ms (missed cycles : 9).[0m ×2 + 56.52sWARNcontroller_managerOverrun might occur, Total time : 2575.812 us (Expected < 1666.667 us) --> Read time : 132.964 us, Update time : 55.041 us, Write time : 2387.807 us + 56.52sWARNros2_control_nodeOverrun might occur, Total time : 2575.812 us (Expected < 1666.667 us) --> Read time : 132.964 us, Update time : 55.041 us, Write time : 2387.807 us[0m ×2 + 56.73sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781412195.16980791 seconds. ×3 + 57.04sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 57.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800950 ms (missed cycles : 6). + 57.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800950 ms (missed cycles : 6).[0m ×2 + 57.62sWARNcontroller_managerOverrun might occur, Total time : 2303.805 us (Expected < 1666.667 us) --> Read time : 87.153 us, Update time : 1943.595 us, Write time : 273.057 us + 57.62sWARNros2_control_nodeOverrun might occur, Total time : 2303.805 us (Expected < 1666.667 us) --> Read time : 87.153 us, Update time : 1943.595 us, Write time : 273.057 us[0m ×2 + 58.01sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216460 ms (missed cycles : 4). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216460 ms (missed cycles : 4).[0m ×2 + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107140 ms (missed cycles : 2). + 59.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107140 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.4s | 177 warnings · 662 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.01sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.29sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.29sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 0.53sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 0.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 0.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.86sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.87sINFOplatform_velocity_controllerconfigure successful + 0.87sINFOros2_control_nodeconfigure successful[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.87sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.56sINFOmove_groupClearing octomap...[0m ×2 + 1.56sINFOmove_groupOctomap cleared.[0m ×2 + 1.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 1.78sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 1.78sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 3.38sINFOobjective_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 + 3.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.40sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 3.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 3.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 4.75sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.00sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810954 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810954 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 1783.550 us (Expected < 1666.667 us) --> Read time : 97.543 us, Update time : 139.254 us, Write time : 1546.753 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 1783.550 us (Expected < 1666.667 us) --> Read time : 97.543 us, Update time : 139.254 us, Write time : 1546.753 us[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734780 ms (missed cycles : 3). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734780 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389091 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389091 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780231 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780231 ms (missed cycles : 3).[0m ×2 + 11.02sWARNcontroller_managerOverrun might occur, Total time : 1702.898 us (Expected < 1666.667 us) --> Read time : 159.355 us, Update time : 1195.583 us, Write time : 347.960 us + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041873 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun might occur, Total time : 1702.898 us (Expected < 1666.667 us) --> Read time : 159.355 us, Update time : 1195.583 us, Write time : 347.960 us[0m ×2 + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041873 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540763 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540763 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284898 ms (missed cycles : 3). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284898 ms (missed cycles : 3).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483918 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483918 ms (missed cycles : 3).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729938 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729938 ms (missed cycles : 2).[0m ×2 + 15.59sWARNcontroller_managerOverrun might occur, Total time : 1834.652 us (Expected < 1666.667 us) --> Read time : 106.313 us, Update time : 1486.222 us, Write time : 242.117 us + 15.59sWARNros2_control_nodeOverrun might occur, Total time : 1834.652 us (Expected < 1666.667 us) --> Read time : 106.313 us, Update time : 1486.222 us, Write time : 242.117 us[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828706 ms (missed cycles : 2). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828706 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660609 ms (missed cycles : 5). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.660609 ms (missed cycles : 5).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366771 ms (missed cycles : 4). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366771 ms (missed cycles : 4).[0m ×2 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005847 ms (missed cycles : 4). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005847 ms (missed cycles : 4).[0m ×2 + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034123 ms (missed cycles : 3). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.034123 ms (missed cycles : 3).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425819 ms (missed cycles : 3). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425819 ms (missed cycles : 3).[0m ×2 + 22.71sWARNcontroller_managerOverrun might occur, Total time : 1688.668 us (Expected < 1666.667 us) --> Read time : 100.433 us, Update time : 1339.928 us, Write time : 248.307 us + 22.71sWARNros2_control_nodeOverrun might occur, Total time : 1688.668 us (Expected < 1666.667 us) --> Read time : 100.433 us, Update time : 1339.928 us, Write time : 248.307 us[0m ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587005 ms (missed cycles : 3). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.587005 ms (missed cycles : 3).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226499 ms (missed cycles : 4). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226499 ms (missed cycles : 4).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465815 ms (missed cycles : 3). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465815 ms (missed cycles : 3).[0m ×2 + 26.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110215 ms (missed cycles : 4). + 26.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.110215 ms (missed cycles : 4).[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611829 ms (missed cycles : 3). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611829 ms (missed cycles : 3).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289342 ms (missed cycles : 5). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.289342 ms (missed cycles : 5).[0m ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928148 ms (missed cycles : 3). + 29.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928148 ms (missed cycles : 3).[0m ×2 + 30.31sWARNcontroller_managerOverrun might occur, Total time : 3646.383 us (Expected < 1666.667 us) --> Read time : 116.993 us, Update time : 3193.431 us, Write time : 335.959 us + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003650 ms (missed cycles : 3). + 30.31sWARNros2_control_nodeOverrun might occur, Total time : 3646.383 us (Expected < 1666.667 us) --> Read time : 116.993 us, Update time : 3193.431 us, Write time : 335.959 us[0m ×2 + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003650 ms (missed cycles : 3).[0m ×2 + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889911 ms (missed cycles : 2). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889911 ms (missed cycles : 2).[0m ×2 + 32.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160558 ms (missed cycles : 4). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160558 ms (missed cycles : 4).[0m ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703991 ms (missed cycles : 2). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703991 ms (missed cycles : 2).[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497539 ms (missed cycles : 3). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497539 ms (missed cycles : 3).[0m ×2 + 35.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173102 ms (missed cycles : 2). + 35.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173102 ms (missed cycles : 2).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.888436 ms (missed cycles : 5). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.888436 ms (missed cycles : 5).[0m ×2 + 36.94sWARNcontroller_managerOverrun might occur, Total time : 2307.865 us (Expected < 1666.667 us) --> Read time : 262.418 us, Update time : 1795.490 us, Write time : 249.957 us + 36.94sWARNros2_control_nodeOverrun might occur, Total time : 2307.865 us (Expected < 1666.667 us) --> Read time : 262.418 us, Update time : 1795.490 us, Write time : 249.957 us[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903327 ms (missed cycles : 3). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903327 ms (missed cycles : 3).[0m ×2 + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239259 ms (missed cycles : 2). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239259 ms (missed cycles : 2).[0m ×2 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410103 ms (missed cycles : 3). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410103 ms (missed cycles : 3).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045016 ms (missed cycles : 2). + 40.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045016 ms (missed cycles : 2).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914988 ms (missed cycles : 2). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914988 ms (missed cycles : 2).[0m ×2 + 42.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675594 ms (missed cycles : 2). + 42.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675594 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2).[0m ×2 + 45.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4). + 45.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4).[0m ×2 + 45.17sWARNcontroller_managerOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us + 45.17sWARNros2_control_nodeOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4).[0m ×2 + 46.85sINFOjoint_trajectory_controllerGoal reached, success! + 46.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 47.41sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 47.55sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 47.55sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 48.20sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 48.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 48.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 50.11sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 50.11sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 144 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 + 1.30sWARNcontroller_managerOverrun might occur, Total time : 2072.929 us (Expected < 1666.667 us) --> Read time : 104.603 us, Update time : 1589.375 us, Write time : 378.951 us + 1.30sWARNros2_control_nodeOverrun might occur, Total time : 2072.929 us (Expected < 1666.667 us) --> Read time : 104.603 us, Update time : 1589.375 us, Write time : 378.951 us[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755441 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755441 ms (missed cycles : 2).[0m ×2 + 2.34sWARNcontroller_managerOverrun might occur, Total time : 1831.362 us (Expected < 1666.667 us) --> Read time : 114.653 us, Update time : 1474.742 us, Write time : 241.967 us + 2.34sWARNros2_control_nodeOverrun might occur, Total time : 1831.362 us (Expected < 1666.667 us) --> Read time : 114.653 us, Update time : 1474.742 us, Write time : 241.967 us[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781412110.50916815 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380481 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380481 ms (missed cycles : 4).[0m ×2 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781412112.04229975 seconds. ×3 + 4.15sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498326 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498326 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943514 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943514 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.57sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.57sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.57sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.57sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419779 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419779 ms (missed cycles : 2).[0m ×2 + 7.18sWARNcontroller_managerOverrun might occur, Total time : 6482.662 us (Expected < 1666.667 us) --> Read time : 5984.689 us, Update time : 152.464 us, Write time : 345.509 us + 7.18sWARNros2_control_nodeOverrun might occur, Total time : 6482.662 us (Expected < 1666.667 us) --> Read time : 5984.689 us, Update time : 152.464 us, Write time : 345.509 us[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333276 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333276 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148620 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148620 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987441 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.987441 ms (missed cycles : 3).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619783 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619783 ms (missed cycles : 3).[0m ×2 + 11.39sWARNcontroller_managerOverrun might occur, Total time : 4987.410 us (Expected < 1666.667 us) --> Read time : 4543.198 us, Update time : 149.324 us, Write time : 294.888 us + 11.40sWARNros2_control_nodeOverrun might occur, Total time : 4987.410 us (Expected < 1666.667 us) --> Read time : 4543.198 us, Update time : 149.324 us, Write time : 294.888 us[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114646 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114646 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668467 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668467 ms (missed cycles : 3).[0m ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262058 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262058 ms (missed cycles : 2).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050454 ms (missed cycles : 3). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050454 ms (missed cycles : 3).[0m ×2 + 15.72sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314538 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314538 ms (missed cycles : 4).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638573 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638573 ms (missed cycles : 3).[0m ×2 + 17.43sWARNcontroller_managerOverrun might occur, Total time : 4165.628 us (Expected < 1666.667 us) --> Read time : 111.683 us, Update time : 95.433 us, Write time : 3958.512 us + 17.43sWARNros2_control_nodeOverrun might occur, Total time : 4165.628 us (Expected < 1666.667 us) --> Read time : 111.683 us, Update time : 95.433 us, Write time : 3958.512 us[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176142 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176142 ms (missed cycles : 2).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887207 ms (missed cycles : 3). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887207 ms (missed cycles : 3).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556991 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556991 ms (missed cycles : 3).[0m ×2 + 20.41sWARNcontroller_managerOverrun might occur, Total time : 5591.848 us (Expected < 1666.667 us) --> Read time : 59.012 us, Update time : 5190.616 us, Write time : 342.220 us + 20.41sWARNros2_control_nodeOverrun might occur, Total time : 5591.848 us (Expected < 1666.667 us) --> Read time : 59.012 us, Update time : 5190.616 us, Write time : 342.220 us[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998542 ms (missed cycles : 2). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998542 ms (missed cycles : 2).[0m ×2 + 21.63sWARNcontroller_managerOverrun might occur, Total time : 2797.688 us (Expected < 1666.667 us) --> Read time : 115.663 us, Update time : 2421.108 us, Write time : 260.917 us + 21.63sWARNros2_control_nodeOverrun might occur, Total time : 2797.688 us (Expected < 1666.667 us) --> Read time : 115.663 us, Update time : 2421.108 us, Write time : 260.917 us[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981277 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981277 ms (missed cycles : 3).[0m ×2 + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.354939 ms (missed cycles : 6). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.354939 ms (missed cycles : 6).[0m ×2 + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654018 ms (missed cycles : 2). + 24.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654018 ms (missed cycles : 2).[0m ×2 + 25.09sWARNcontroller_managerOverrun might occur, Total time : 2187.201 us (Expected < 1666.667 us) --> Read time : 104.223 us, Update time : 1850.112 us, Write time : 232.866 us + 25.09sWARNros2_control_nodeOverrun might occur, Total time : 2187.201 us (Expected < 1666.667 us) --> Read time : 104.223 us, Update time : 1850.112 us, Write time : 232.866 us[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863131 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863131 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061993 ms (missed cycles : 4). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061993 ms (missed cycles : 4).[0m ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556050 ms (missed cycles : 3). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556050 ms (missed cycles : 3).[0m ×2 + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988229 ms (missed cycles : 3). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988229 ms (missed cycles : 3).[0m ×2 + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417474 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417474 ms (missed cycles : 2).[0m ×2 + 30.16sWARNcontroller_managerOverrun might occur, Total time : 3083.197 us (Expected < 1666.667 us) --> Read time : 95.843 us, Update time : 2732.967 us, Write time : 254.387 us + 30.16sWARNros2_control_nodeOverrun might occur, Total time : 3083.197 us (Expected < 1666.667 us) --> Read time : 95.843 us, Update time : 2732.967 us, Write time : 254.387 us[0m ×2 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4).[0m ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3).[0m ×2 + 31.75sWARNcontroller_managerOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us + 31.75sWARNros2_control_nodeOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2).[0m ×2 + 33.12sWARNcontroller_managerOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us + 33.12sWARNros2_control_nodeOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2).[0m ×2 + 33.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781412141.89247012 seconds ×3 + 34.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781412142.43857908 seconds. ×3 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3).[0m ×2 + 35.34sWARNcontroller_managerOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us + 35.34sWARNros2_control_nodeOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us[0m ×2 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5).[0m ×2 + 35.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 75 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660254 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.660254 ms (missed cycles : 4).[0m ×2 + 0.28sWARNcontroller_managerOverrun might occur, Total time : 4048.644 us (Expected < 1666.667 us) --> Read time : 81.562 us, Update time : 3688.784 us, Write time : 278.298 us + 0.28sWARNros2_control_nodeOverrun might occur, Total time : 4048.644 us (Expected < 1666.667 us) --> Read time : 81.562 us, Update time : 3688.784 us, Write time : 278.298 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.570196 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.570196 ms (missed cycles : 6).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191613 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191613 ms (missed cycles : 2).[0m ×2 + 2.63sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.63sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.66sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781412332.63154554 seconds ×3 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3230.461 us (Expected < 1666.667 us) --> Read time : 81.342 us, Update time : 2842.611 us, Write time : 306.508 us + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3230.461 us (Expected < 1666.667 us) --> Read time : 81.342 us, Update time : 2842.611 us, Write time : 306.508 us[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657568 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657568 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781412333.18388057 seconds. ×3 + 3.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.53sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.53sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.53sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 2541.842 us (Expected < 1666.667 us) --> Read time : 119.304 us, Update time : 2135.900 us, Write time : 286.638 us + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789773 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun might occur, Total time : 2541.842 us (Expected < 1666.667 us) --> Read time : 119.304 us, Update time : 2135.900 us, Write time : 286.638 us[0m ×2 + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.789773 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635090 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635090 ms (missed cycles : 4).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827345 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827345 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637304 ms (missed cycles : 4). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.637304 ms (missed cycles : 4).[0m ×2 + 7.46sWARNcontroller_managerOverrun might occur, Total time : 1773.561 us (Expected < 1666.667 us) --> Read time : 209.466 us, Update time : 1296.477 us, Write time : 267.618 us + 7.46sWARNros2_control_nodeOverrun might occur, Total time : 1773.561 us (Expected < 1666.667 us) --> Read time : 209.466 us, Update time : 1296.477 us, Write time : 267.618 us[0m ×2 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×6 + 7.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 7.81sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 7.98sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.27sINFOobjective_server_nodeFound path in 69 iterations (0.054152 s). ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328187 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328187 ms (missed cycles : 4).[0m ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 8.89sWARNcontroller_managerOverrun might occur, Total time : 2045.207 us (Expected < 1666.667 us) --> Read time : 136.024 us, Update time : 1641.616 us, Write time : 267.567 us + 8.90sWARNros2_control_nodeOverrun might occur, Total time : 2045.207 us (Expected < 1666.667 us) --> Read time : 136.024 us, Update time : 1641.616 us, Write time : 267.567 us[0m ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.20sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450679 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450679 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708307 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708307 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun might occur, Total time : 2259.754 us (Expected < 1666.667 us) --> Read time : 130.914 us, Update time : 112.363 us, Write time : 2016.477 us + 11.35sWARNros2_control_nodeOverrun might occur, Total time : 2259.754 us (Expected < 1666.667 us) --> Read time : 130.914 us, Update time : 112.363 us, Write time : 2016.477 us[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451398 ms (missed cycles : 5). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.451398 ms (missed cycles : 5).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4).[0m ×2 + 14.75sWARNcontroller_managerOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us + 14.75sWARNros2_control_nodeOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781412345.16833901 seconds ×3 + 15.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781412345.73584867 seconds. ×3 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3).[0m ×2 + 15.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.78sINFOmove_groupClearing octomap...[0m ×2 + 15.78sINFOmove_groupOctomap cleared.[0m ×2 + 16.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781412346.12600255 seconds ×3 + 16.69sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781412346.65975952 seconds. ×3 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4).[0m ×2 + 17.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781412347.03071618 seconds ×3 + 17.29sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 81 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724842 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724842 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707738 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707738 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun might occur, Total time : 3191.710 us (Expected < 1666.667 us) --> Read time : 177.855 us, Update time : 2722.447 us, Write time : 291.408 us + 1.19sWARNros2_control_nodeOverrun might occur, Total time : 3191.710 us (Expected < 1666.667 us) --> Read time : 177.855 us, Update time : 2722.447 us, Write time : 291.408 us[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131094 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131094 ms (missed cycles : 5).[0m ×2 + 2.55sWARNcontroller_managerOverrun might occur, Total time : 2053.208 us (Expected < 1666.667 us) --> Read time : 98.093 us, Update time : 103.543 us, Write time : 1851.572 us + 2.55sWARNros2_control_nodeOverrun might occur, Total time : 2053.208 us (Expected < 1666.667 us) --> Read time : 98.093 us, Update time : 103.543 us, Write time : 1851.572 us[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! + 3.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781412194.61872506 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.122970 ms (missed cycles : 9). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.122970 ms (missed cycles : 9).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 2575.812 us (Expected < 1666.667 us) --> Read time : 132.964 us, Update time : 55.041 us, Write time : 2387.807 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 2575.812 us (Expected < 1666.667 us) --> Read time : 132.964 us, Update time : 55.041 us, Write time : 2387.807 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781412195.16980791 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 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800950 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.800950 ms (missed cycles : 6).[0m ×2 + 4.70sWARNcontroller_managerOverrun might occur, Total time : 2303.805 us (Expected < 1666.667 us) --> Read time : 87.153 us, Update time : 1943.595 us, Write time : 273.057 us + 4.70sWARNros2_control_nodeOverrun might occur, Total time : 2303.805 us (Expected < 1666.667 us) --> Read time : 87.153 us, Update time : 1943.595 us, Write time : 273.057 us[0m ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216460 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216460 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107140 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107140 ms (missed cycles : 2).[0m ×2 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 1822.311 us (Expected < 1666.667 us) --> Read time : 99.173 us, Update time : 1490.792 us, Write time : 232.346 us + 7.26sWARNros2_control_nodeOverrun might occur, Total time : 1822.311 us (Expected < 1666.667 us) --> Read time : 99.173 us, Update time : 1490.792 us, Write time : 232.346 us[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898147 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898147 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806781 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806781 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun might occur, Total time : 1714.320 us (Expected < 1666.667 us) --> Read time : 389.721 us, Update time : 997.069 us, Write time : 327.530 us + 8.48sWARNros2_control_nodeOverrun might occur, Total time : 1714.320 us (Expected < 1666.667 us) --> Read time : 389.721 us, Update time : 997.069 us, Write time : 327.530 us[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723125 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.723125 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830139 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830139 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982714 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982714 ms (missed cycles : 2).[0m ×2 + 12.53sWARNcontroller_managerOverrun might occur, Total time : 2516.901 us (Expected < 1666.667 us) --> Read time : 78.822 us, Update time : 2198.822 us, Write time : 239.257 us + 12.54sWARNros2_control_nodeOverrun might occur, Total time : 2516.901 us (Expected < 1666.667 us) --> Read time : 78.822 us, Update time : 2198.822 us, Write time : 239.257 us[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977852 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977852 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516086 ms (missed cycles : 4). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.516086 ms (missed cycles : 4).[0m ×2 + 14.12sINFOjoint_trajectory_controllerGot request to cancel goal + 14.12sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.13sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781412205.48415875 seconds ×3 + 14.25sWARNcontroller_managerOverrun might occur, Total time : 1782.981 us (Expected < 1666.667 us) --> Read time : 110.784 us, Update time : 1366.238 us, Write time : 305.959 us + 14.25sWARNros2_control_nodeOverrun might occur, Total time : 1782.981 us (Expected < 1666.667 us) --> Read time : 110.784 us, Update time : 1366.238 us, Write time : 305.959 us[0m ×2 + 14.67sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781412206.02679777 seconds. ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770414 ms (missed cycles : 5). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.770414 ms (missed cycles : 5).[0m ×2 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681611 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681611 ms (missed cycles : 2).[0m ×2 + 15.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.10sWARNcontroller_managerOverrun might occur, Total time : 1729.178 us (Expected < 1666.667 us) --> Read time : 112.353 us, Update time : 1292.976 us, Write time : 323.849 us + 16.10sWARNros2_control_nodeOverrun might occur, Total time : 1729.178 us (Expected < 1666.667 us) --> Read time : 112.353 us, Update time : 1292.976 us, Write time : 323.849 us[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646636 ms (missed cycles : 3).[0m ×2 + 17.23sWARNcontroller_managerOverrun might occur, Total time : 13314.835 us (Expected < 1666.667 us) --> Read time : 77.772 us, Update time : 67.812 us, Write time : 13169.251 us + 17.23sWARNros2_control_nodeOverrun might occur, Total time : 13314.835 us (Expected < 1666.667 us) --> Read time : 77.772 us, Update time : 67.812 us, Write time : 13169.251 us[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.5s | 76 errors · 36 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781412345.16833901 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781412345.73584867 seconds. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3).[0m ×2 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781412346.12600255 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781412346.65975952 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781412347.03071618 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205598 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205598 ms (missed cycles : 3).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187092 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187092 ms (missed cycles : 3).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032611 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032611 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914780 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914780 ms (missed cycles : 3).[0m ×2 + 10.24sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.29sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.29sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.30sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.31sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.32sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.33sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.34sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.35sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.36sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.38sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.39sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.41sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.42sWARNcontroller_managerOverrun might occur, Total time : 1757.570 us (Expected < 1666.667 us) --> Read time : 1295.236 us, Update time : 134.684 us, Write time : 327.650 us + 10.43sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.44sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.46sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.48sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.50sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.50sINFOcontroller_managerShutdown request received.... + 10.50sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.50sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.50sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.50sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.50sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.50sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.50sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.50sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.50sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.50sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.50sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.50sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.50sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.50sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.50sINFOcontroller_managerShutting down the controller manager. + 10.51sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.53sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.54sERRORmove_group-20process has died [pid 9331, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_m6t6vm1y --params-file /tmp/launch_params_knyyt6ps --params-file /tmp/launch_params_icwmo2p2 --params-file /tmp/launch_params_0lcnbwcr --params-file /tmp/launch_params_2thctgvm --params-file /tmp/launch_params_2hhlerq9 --params-file /tmp/launch_params_z16jcupe --params-file /tmp/launch_params__s7w42ly --params-file /tmp/launch_params_dg6p68x5']. ×2 + 10.54sINFOweb_video_server-31process has finished cleanly [pid 9405] ×2 + 10.55sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.56sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.57sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.59sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.60sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.60sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.60sINFOmap_serverDeactivating + 10.60sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sERRORobjective_server_node_main-25process has died [pid 9383, 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_a5u2mh_n --params-file /tmp/launch_params_7wzokdwi --params-file /tmp/launch_params_clw5ler8 --params-file /tmp/launch_params_pklj4zs1 --params-file /tmp/launch_params_rlw65iyq --params-file /tmp/launch_params_yaowwsio']. ×2 + 10.61sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.61sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.61sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.61sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.61sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.61sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.61sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.61sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.61sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.61sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.61sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.61sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sWARNros2_control_nodeOverrun might occur, Total time : 1757.570 us (Expected < 1666.667 us) --> Read time : 1295.236 us, Update time : 134.684 us, Write time : 327.650 us[0m ×2 + 10.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.61sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.61sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.61sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.61sERRORmove_groupStack trace (most recent call last) in thread 9888: ×2 + 10.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe422721a63, in __clone ×2 + 10.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe422694aa3, in ×2 + 10.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe422926db3, in ×2 + 10.61sINFOobjective_server_node[2026-06-14 04:45:52.884] [moveit_pro_license] [info] ×2 + 10.61sINFOobjective_server_node************************************************* ×4 + 10.61sINFOobjective_server_node* MoveIt Pro License ×2 + 10.61sINFOobjective_server_node* Application has successfully terminated ×2 + 10.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7fe422f7b19a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe422c994d0, in rclcpp::Rate::sleep() ×2 + 10.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe422beca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe422bb1a71, in ×2 + 10.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe4228f5390, in __cxa_throw ×2 + 10.61sINFOmap_serverCleaning up + 10.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe4228dfa54, in std::terminate() ×2 + 10.61sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe4228f50d9, in ×2 + 10.61sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe4228dfff4, in ×2 + 10.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe4226208fe, in abort ×2 + 10.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe42263d27d, in raise ×2 + 10.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe422696b2c, in pthread_kill ×2 + 10.61sERRORmove_groupAborted (Signal sent by tkill() 9331 0) ×2 + 10.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.62sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.62sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.62sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.62sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.62sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.62sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560587a306a4, in _start ×2 + 10.62sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febae20628a, in __libc_start_main ×2 + 10.62sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febae2061d0, in ×2 + 10.62sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febae223bbd, in exit ×2 + 10.62sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7febae223a75, in ×2 + 10.62sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7febae6f54a2, in spdlog::details::registry::~registry() ×2 + 10.62sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7febae70069d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.62sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7febae6fa965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.62sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560587a37315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.62sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560587a365a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.62sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560587a32b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.62sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x560587a30d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.62sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed78454, in rclcpp::Node::~Node() ×2 + 10.62sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed33515, in ×2 + 10.62sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed76d20, in ×2 + 10.62sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed76c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.62sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed335d9, in ×2 + 10.62sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7febaed38161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.62sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7feb6a4f0450]) ×2 + 10.62sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.62sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.62sINFOodom_qos_relay.pymain() ×2 + 10.62sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.62sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.62sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.62sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.62sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.62sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.62sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.62sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.62sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.62sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.62sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.62sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.63sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.63sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.63sINFOcontroller_serverCleaning up + 10.63sINFOlocal_costmap.local_costmapCleaning up + 10.63sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.63sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.63sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.63sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.67sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.67sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.67sINFOsmoother_serverCleaning up + 10.68sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.68sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.68sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.68sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.68sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.68sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.68sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.68sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.68sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.68sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.68sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.68sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.11sERRORcomponent_container_isolated-1process has died [pid 9224, 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_c5t_9vm5 --params-file /tmp/launch_params_81zk9p9e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.35sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9404] ×2 + 11.35sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.45sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9381] ×2 + 11.46sINFOexecute_objective_bridge-27process has finished cleanly [pid 9401] ×2 + 11.47sERRORui_teleop_bridge-28process has died [pid 9402, 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_obe4qhs8']. ×2 + 11.47sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9336] ×2 + 11.52sINFOparameter_manager_node-21process has finished cleanly [pid 9333] ×2 + 11.53sINFOwaypoint_manager_node-22process has finished cleanly [pid 9335] ×2 + 11.57sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9230] ×2 + 11.57sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9229] ×2 + 11.60sINFOstatic_transform_publisher-4process has finished cleanly [pid 9227] ×2 + 11.62sINFOstatic_transform_publisher-3process has finished cleanly [pid 9226] ×2 + 11.63sINFOstatic_transform_publisher-2process has finished cleanly [pid 9225] ×2 + 11.64sERRORodom_qos_relay.py-5process has died [pid 9228, 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 + 11.64sINFOcomponent_container_mt-26process has finished cleanly [pid 9400] ×2 + 13.13sINFOweb_bridge-29process has finished cleanly [pid 9403] ×2 + 13.13sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.18sINFOros2_control_node-8process has finished cleanly [pid 9231] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 + 6.48sWARNcontroller_managerOverrun might occur, Total time : 2072.929 us (Expected < 1666.667 us) --> Read time : 104.603 us, Update time : 1589.375 us, Write time : 378.951 us + 6.48sWARNros2_control_nodeOverrun might occur, Total time : 2072.929 us (Expected < 1666.667 us) --> Read time : 104.603 us, Update time : 1589.375 us, Write time : 378.951 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755441 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755441 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun might occur, Total time : 1831.362 us (Expected < 1666.667 us) --> Read time : 114.653 us, Update time : 1474.742 us, Write time : 241.967 us + 7.52sWARNros2_control_nodeOverrun might occur, Total time : 1831.362 us (Expected < 1666.667 us) --> Read time : 114.653 us, Update time : 1474.742 us, Write time : 241.967 us[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781412110.50916815 seconds ×3 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380481 ms (missed cycles : 4). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380481 ms (missed cycles : 4).[0m ×2 + 9.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781412112.04229975 seconds. ×3 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498326 ms (missed cycles : 3). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498326 ms (missed cycles : 3).[0m ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943514 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943514 ms (missed cycles : 2).[0m ×2 + 10.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419779 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419779 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 39 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.19sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.19sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781412049.20214128 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781412049.74233747 seconds. ×3 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4).[0m ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781412345.16833901 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781412345.73584867 seconds. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3).[0m ×2 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781412346.12600255 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781412346.65975952 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781412347.03071618 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205598 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205598 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781412141.89247012 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781412142.43857908 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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781412141.89247012 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781412142.43857908 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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 30 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283694 ms (missed cycles : 4).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588504 ms (missed cycles : 3).[0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 4072.243 us (Expected < 1666.667 us) --> Read time : 86.292 us, Update time : 3738.375 us, Write time : 247.576 us[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253841 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 2487.560 us (Expected < 1666.667 us) --> Read time : 83.322 us, Update time : 2194.462 us, Write time : 209.776 us[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844580 ms (missed cycles : 2).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! + 3.40sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.45sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781412141.89247012 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781412142.43857908 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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.588123 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1877.253 us (Expected < 1666.667 us) --> Read time : 117.373 us, Update time : 1502.933 us, Write time : 256.947 us[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574621 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.34sINFOjoint_trajectory_controllerReceived new action goal + 5.34sINFOjoint_trajectory_controllerAccepted new action goal + 5.34sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.34sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319301 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120351 ms (missed cycles : 4).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2686.316 us (Expected < 1666.667 us) --> Read time : 132.583 us, Update time : 2250.814 us, Write time : 302.919 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.203198 ms (missed cycles : 4).[0m ×2 + 2.82sINFOjoint_trajectory_controllerGoal reached, success! + 2.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 3.51sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOjoint_trajectory_controllerReceived new action goal + 4.19sINFOjoint_trajectory_controllerAccepted new action goal + 4.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 6.07sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 6.07sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781412045.73161960 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343198 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781412046.28200078 seconds. ×3 + 0.70sWARNcontroller_managerOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us + 0.70sWARNros2_control_nodeOverrun might occur, Total time : 3747.365 us (Expected < 1666.667 us) --> Read time : 83.662 us, Update time : 3367.675 us, Write time : 296.028 us[0m ×2 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (1.9721e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580480 ms (missed cycles : 3).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703916 ms (missed cycles : 3).[0m ×2 + 3.26sWARNcontroller_managerOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us + 3.26sWARNros2_control_nodeOverrun might occur, Total time : 3575.600 us (Expected < 1666.667 us) --> Read time : 3090.327 us, Update time : 127.653 us, Write time : 357.620 us[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781412049.20214128 seconds ×3 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.546309 ms (missed cycles : 4).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781412049.74233747 seconds. ×3 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.743230 ms (missed cycles : 4).[0m ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512721 ms (missed cycles : 3).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496615 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.946248 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695438 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342249 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 4258.919 us (Expected < 1666.667 us) --> Read time : 99.283 us, Update time : 3817.697 us, Write time : 341.939 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584042 ms (missed cycles : 3).[0m ×2 + 3.16sINFOjoint_trajectory_controllerGoal reached, success! + 3.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.18sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781412105.92247725 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781412106.46897674 seconds. ×3 + 3.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.07sINFOjoint_trajectory_controllerReceived new action goal + 4.07sINFOjoint_trajectory_controllerAccepted new action goal + 4.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379265 ms (missed cycles : 3).[0m ×2 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us + 4.68sWARNros2_control_nodeOverrun might occur, Total time : 1764.670 us (Expected < 1666.667 us) --> Read time : 105.193 us, Update time : 1379.969 us, Write time : 279.508 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322413 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.141419 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 27 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.723950 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.148940 ms (missed cycles : 6).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.315784 ms (missed cycles : 4).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2010.667 us (Expected < 1666.667 us) --> Read time : 120.074 us, Update time : 1635.536 us, Write time : 255.057 us[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556180 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781412277.53695178 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781412278.08118701 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211590 ms (missed cycles : 5).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939914 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.46sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.46sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.66sWARNcontroller_managerOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us + 5.66sWARNros2_control_nodeOverrun might occur, Total time : 2912.833 us (Expected < 1666.667 us) --> Read time : 105.853 us, Update time : 2424.429 us, Write time : 382.551 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024246 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646605 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460551 ms (missed cycles : 4).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.179975 ms (missed cycles : 4).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 1759.879 us (Expected < 1666.667 us) --> Read time : 121.103 us, Update time : 1434.421 us, Write time : 204.355 us[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781412345.16833901 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781412345.73584867 seconds. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746524 ms (missed cycles : 3).[0m ×2 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.36sINFOmove_groupClearing octomap...[0m ×2 + 3.36sINFOmove_groupOctomap cleared.[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781412346.12600255 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781412346.65975952 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.305670 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781412347.03071618 seconds ×3 + 4.86sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381495 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.0s | 13 errors · 89 warnings · 4755 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/2026-06-14-04-39-41-462322-2c65ef619e3e-9175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 6.91sINFOstatic_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' + 6.91sINFOstatic_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' + 6.91sINFOstatic_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' + 6.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 6.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 6.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 6.97sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 6.97sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 6.97sINFOmap_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. + 6.97sINFOmap_serverCreating + 6.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 6.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 6.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 6.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 6.98sINFOlifecycle_manager_localizationCreating + 6.99sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 6.99sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 7.00sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 7.00sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 7.00sINFOmap_serverConfiguring + 7.01sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 7.02sINFOcontroller_managerupdate rate is 600 Hz + 7.02sINFOcontroller_managerOverruns handling is : enabled + 7.02sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 7.02sWARNcontroller_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. + 7.05sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 7.05sINFOmap_serverActivating + 7.05sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030544 ms (missed cycles : 2). + 7.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 7.15sINFOlifecycle_manager_localizationServer map_server connected with bond. + 7.15sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 7.15sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 7.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 7.19sINFOros2_control_node-8process started with pid [9231] ×2 + 7.19sINFOmove_group-20process started with pid [9331] ×2 + 7.19sINFOparameter_manager_node-21process started with pid [9333] ×2 + 7.19sINFOwaypoint_manager_node-22process started with pid [9335] ×2 + 7.19sINFOmove_joint_resampler_node-23process started with pid [9336] ×2 + 7.19sINFOmove_end_effector_resampler_node-24process started with pid [9381] ×2 + 7.19sINFOobjective_server_node_main-25process started with pid [9383] ×2 + 7.19sINFOcomponent_container_mt-26process started with pid [9400] ×2 + 7.19sINFOexecute_objective_bridge-27process started with pid [9401] ×2 + 7.19sINFOui_teleop_bridge-28process started with pid [9402] ×2 + 7.19sINFOweb_bridge-29process started with pid [9403] ×2 + 7.19sINFOtf2_web_republisher_node-30process started with pid [9404] ×2 + 7.19sINFOweb_video_server-31process started with pid [9405] ×2 + 7.19sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 7.19sINFOcomponent_container_isolated-1process started with pid [9224] ×2 + 7.19sINFOstatic_transform_publisher-2process started with pid [9225] ×2 + 7.19sINFOstatic_transform_publisher-3process started with pid [9226] ×2 + 7.19sINFOstatic_transform_publisher-4process started with pid [9227] ×2 + 7.19sINFOodom_qos_relay.py-5process started with pid [9228] ×2 + 7.20sINFOscan_to_scan_filter_chain-6process started with pid [9229] ×2 + 7.20sINFOscan_to_scan_filter_chain-7process started with pid [9230] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9311] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9312] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9313] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9315] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9317] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9319] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9321] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9323] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9325] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9327] ×2 + 7.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9329] ×2 + 7.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 7.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 7.23sINFOcontroller_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. + 7.27sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 7.27sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 7.27sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 7.27sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 7.27sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 7.30sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 7.30sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 7.30sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 7.30sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 7.30sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 7.30sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 7.30sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 7.30sWARNros2_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 + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030544 ms (missed cycles : 2).[0m ×2 + 7.34sINFOcontroller_serverCreating controller server + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 7.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 7.36sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 7.36sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 7.39sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 7.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 7.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 7.41sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 7.42sINFOlocal_costmap.local_costmapCreating Costmap + 7.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 7.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 7.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 7.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 7.48sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 7.49sINFOrobot_state_publisherRobot initialized + 7.49sINFOcomponent_container_mtRobot initialized[0m ×2 + 7.49sINFOcontroller_managerReceived robot description from topic. + 7.49sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 7.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 7.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 7.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 7.51sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 7.51sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 7.52sINFOsmoother_serverCreating smoother server + 7.52sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 7.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 7.53sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 7.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 7.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 7.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 7.57sINFOplanner_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. + 7.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 7.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 7.61sINFOplanner_serverCreating + 7.65sINFOglobal_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. + 7.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 7.66sINFOglobal_costmap.global_costmapCreating Costmap + 7.66sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 7.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 7.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 7.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 7.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 7.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 7.75sINFObehavior_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. + 7.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 7.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 7.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 7.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 7.78sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 7.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 7.78sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 7.78sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 7.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 7.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 7.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 7.84sINFObt_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. + 7.86sINFObt_navigatorCreating + 7.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 7.87sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 7.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 7.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 7.89sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 7.89sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 7.89sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 7.91sINFOwaypoint_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. + 7.91sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.367697 seconds + 7.91sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 7.91sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 7.91sINFOwaypoint_followerCreating + 7.92sWARNlaser_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. + 7.92sWARNlaser_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. + 7.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 7.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 7.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 7.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 7.96sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 7.96sINFOmove_groupLoaded robot model in 0.367697 seconds[0m ×2 + 7.96sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 7.96sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 7.96sWARNscan_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 + 8.03sINFOvelocity_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. + 8.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 8.09sINFOlifecycle_manager_navigationCreating + 8.12sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 8.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 8.14sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 8.14sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 8.14sINFOcontroller_serverConfiguring controller interface + 8.14sINFOcontroller_servergetting progress checker plugins.. + 8.14sINFOcontroller_servergetting goal checker plugins.. + 8.14sINFOcontroller_serverController frequency set to 20.0000Hz + 8.14sINFOlocal_costmap.local_costmapConfiguring + 8.16sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 8.18sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 8.20sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 8.20sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 8.20sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 8.24sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 8.24sINFOcontroller_serverController Server has progress_checker progress checkers available. + 8.25sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 8.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 8.26sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900515 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900515 ms (missed cycles : 3).[0m ×2 + 8.29sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 8.29sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 8.29sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 8.30sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 8.30sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 8.30sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 8.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 8.30sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 8.30sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 8.30sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 8.30sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 8.30sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 8.31sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 8.31sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 8.31sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 8.32sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 8.32sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 8.32sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 8.32sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 8.33sINFOcontroller_serverOptimizer reset + 8.33sINFOcontroller_serverController Server has FollowPath controllers available. + 8.35sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 8.35sINFOsmoother_serverConfiguring smoother server + 8.36sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 8.38sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 8.38sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 8.38sINFOwaypoint_manager_nodeLoaded robot model in 0.413955 seconds[0m ×2 + 8.38sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 8.38sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 8.39sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 8.39sINFOplanner_serverConfiguring + 8.39sINFOglobal_costmap.global_costmapConfiguring + 8.43sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 8.44sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 8.44sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 8.44sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 8.45sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 8.49sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 8.49sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 8.49sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 8.54sERRORmove_group.moveit.ros.robot_model_loaderCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 8.55sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 8.56sFATALplanner_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 + 8.56sINFOplanner_serverCleaning up + 8.56sINFOglobal_costmap.global_costmapCleaning up + 8.56sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 8.64sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 8.64sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 8.91sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 8.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 9.19sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 9.19sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 9.19sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 9.19sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 9.19sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 9.19sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 9.19sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 9.19sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 9.19sINFOmove_groupStarting planning scene monitor[0m ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 9.19sINFOmove_groupListening to '/planning_scene'[0m ×2 + 9.19sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 9.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 9.19sINFOmove_groupListening to 'collision_object'[0m ×2 + 9.20sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 9.20sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 9.20sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 9.20sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 9.20sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 9.44sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 9.44sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 9.45sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 9.72sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 9.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 9.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 9.72sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 9.72sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 9.72sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 9.72sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 9.72sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 9.72sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 9.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 9.72sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 9.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 9.72sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 9.72sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 9.72sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 9.72sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 9.73sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 9.73sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 9.73sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 9.73sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 9.73sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 9.73sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 9.73sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 9.74sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 9.74sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 9.74sWARNros2_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 + 9.90sINFOobjective_server_node[2026-06-14 04:39:53.770] [moveit_pro_license] [info] ×2 + 9.90sINFOobjective_server_node************************************************* ×4 + 9.90sINFOobjective_server_node* MoveIt Pro License ×2 + 9.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 9.92sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 9.92sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 9.92sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 9.92sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.92sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 9.92sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 9.92sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 9.92sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 9.92sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338169 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338169 ms (missed cycles : 2).[0m ×2 + 9.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 9.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 9.94sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 9.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 9.96sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 9.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 9.96sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 9.97sINFOforce_torque_sensor_broadcasterconfigure successful + 9.97sINFOros2_control_nodeconfigure successful[0m ×6 + 9.97sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 9.97sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 9.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 9.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 9.97sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 9.97sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 10.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 10.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 10.09sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.09sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 10.10sWARNcomponent_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 + 10.26sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.26sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 10.26sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.28sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 10.28sINFOobjective_server_nodeLoaded robot model in 0.328733 seconds[0m ×2 + 10.28sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 10.28sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 10.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 10.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 10.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 10.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 10.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9311] ×2 + 10.34sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 10.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 10.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 10.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 10.34sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 10.34sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 10.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 10.34sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 10.34sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 10.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 10.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 10.36sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 10.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 10.44sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 10.44sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 10.44sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 10.46sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 10.47sINFOcomponent_container_mtLoaded robot model in 0.344357 seconds[0m ×2 + 10.47sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 10.47sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.51sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.57sINFOobjective_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 + 10.57sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 10.59sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 10.59sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 10.67sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 10.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9313] ×2 + 10.69sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 10.69sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 10.69sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 10.69sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.80sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 10.80sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 10.83sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 10.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 10.83sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 10.83sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 10.84sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 10.84sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 10.84sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 10.86sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 10.87sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 10.87sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676187 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676187 ms (missed cycles : 2).[0m ×2 + 11.01sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 11.01sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 11.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 11.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 11.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 11.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 11.07sINFOros2_control_node[2026-06-14 04:39:54.940] [info] Controller state will be published at 20 Hz. ×2 + 11.07sINFOros2_control_node[2026-06-14 04:39:54.941] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 11.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 11.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 11.35sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.36sWARNcontroller_managerOverrun might occur, Total time : 2359.846 us (Expected < 1666.667 us) --> Read time : 167.024 us, Update time : 386.511 us, Write time : 1806.311 us + 11.36sWARNros2_control_nodeOverrun might occur, Total time : 2359.846 us (Expected < 1666.667 us) --> Read time : 167.024 us, Update time : 386.511 us, Write time : 1806.311 us[0m ×2 + 11.37sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 11.37sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 11.37sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 11.37sINFOstreaming_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) + 11.37sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 11.38sINFOcomponent_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 + 11.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 11.41sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 11.41sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 11.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 11.41sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 11.42sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 11.42sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 11.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9329] ×2 + 11.49sWARNobjective_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 + 11.52sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 11.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 11.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 11.52sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 11.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 11.52sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 11.52sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 11.53sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 11.53sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 11.53sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 11.53sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 11.53sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 11.53sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 11.53sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 11.53sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 11.55sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 11.55sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 11.59sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 11.59sINFOmove_groupMoveGroup debug mode is ON + 11.59sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 11.59sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 11.60sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 11.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 11.63sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 11.69sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 11.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 11.77sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 11.82sINFOmove_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
********************************************************
+ 11.82sINFOmove_group ×8 + 11.82sINFOmove_group******************************************************** ×4 + 11.82sINFOmove_group* MoveGroup using: ×2 + 11.82sINFOmove_group* - apply_planning_scene_service ×2 + 11.82sINFOmove_group* - clear_octomap_service ×2 + 11.82sINFOmove_group* - ExecuteTaskSolution ×2 + 11.82sINFOmove_group* - get_group_urdf ×2 + 11.82sINFOmove_group* - load_geometry_from_file ×2 + 11.82sINFOmove_group* - get_planning_scene_service ×2 + 11.82sINFOmove_group* - kinematics_service ×2 + 11.82sINFOmove_group* - save_geometry_to_file ×2 + 11.82sINFOmove_group* - GetPlanningGroups ×2 + 11.82sINFOmove_group* - SetActiveControllerService ×2 + 11.82sINFOmove_group* - URDFPlanningSceneCapability ×2 + 11.82sINFOmove_group[0m ×2 + 11.82sINFOmove_group[92mYou can start planning now![0m ×2 + 11.88sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.88sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.88sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.88sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.88sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 11.88sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 11.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9321] ×2 + 11.93sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 11.93sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 11.93sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.93sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.95sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.95sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.95sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 11.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697020 ms (missed cycles : 5). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.697020 ms (missed cycles : 5).[0m ×2 + 12.25sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.25sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.25sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.25sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.26sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 12.26sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 12.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 12.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9312] ×2 + 12.31sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 12.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 12.33sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.33sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.33sINFOplatform_velocity_controller_nav2configure successful + 12.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9319] ×2 + 12.74sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.74sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 13.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 13.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 13.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 13.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 13.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 13.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.20sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 13.20sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 13.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 13.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 13.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 13.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 13.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 13.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 14.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 14.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 14.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 14.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 14.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 14.62sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.62sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 14.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 14.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 14.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 14.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 14.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 14.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 14.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 14.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 14.65sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 14.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 14.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 14.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 14.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 15.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 15.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 15.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 15.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 15.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 15.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 15.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 15.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 15.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 15.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 15.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 15.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 15.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 15.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 15.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 15.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 15.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.87sINFOplatform_velocity_controllerconfigure successful + 15.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 15.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 16.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 16.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 16.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 16.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.56sINFOmove_groupClearing octomap...[0m ×2 + 16.56sINFOmove_groupOctomap cleared.[0m ×2 + 16.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 16.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 16.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 17.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 17.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 17.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 17.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 18.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 18.38sINFOobjective_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 + 18.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 18.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 18.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 18.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 18.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 18.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 18.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 18.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 18.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 18.40sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 18.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 18.40sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 18.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 18.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 18.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 18.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 18.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 18.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 18.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 18.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 19.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 19.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 36 warnings · 1150 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.07sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.08sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.08sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.32sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 0.32sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.89sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.91sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.92sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 1.27sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.55sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.79sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.80sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.07sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.07sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.07sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.12sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.13sINFOplatform_velocity_controllerconfigure successful + 2.13sINFOros2_control_nodeconfigure successful[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.13sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.64sINFOros2_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 + 4.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.01sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.71sINFOjoint_trajectory_controllerReceived new action goal + 6.71sINFOjoint_trajectory_controllerAccepted new action goal + 6.71sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.71sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 39 warnings · 1629 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.01sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-14-04-39-41-462322-2c65ef619e3e-9175 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 33 warnings · 1144 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.07sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.08sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.08sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.08sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.11sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.32sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 0.32sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 0.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.89sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.89sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.91sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.91sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.91sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.91sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.92sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 1.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 1.27sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 1.53sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.55sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.55sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 1.55sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.63sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.63sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.79sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.80sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.80sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.07sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.07sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.07sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.07sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.12sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.12sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.12sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.13sINFOplatform_velocity_controllerconfigure successful + 2.13sINFOros2_control_nodeconfigure successful[0m ×2 + 2.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.13sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.14sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.82sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.82sINFOmove_groupClearing octomap...[0m ×2 + 2.82sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.05sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.64sINFOobjective_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 + 4.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.64sINFOros2_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 + 4.66sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.66sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.01sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.26sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 1626 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084534 ms (missed cycles : 2).[0m ×2 + 0.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.13sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.15sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.15sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.17sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.21sWARNcontroller_managerOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us + 0.21sWARNros2_control_nodeOverrun might occur, Total time : 2230.902 us (Expected < 1666.667 us) --> Read time : 93.862 us, Update time : 1818.411 us, Write time : 318.629 us[0m ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.287] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.290] [info] Controller state will be published at 10 Hz. ×2 + 0.42sINFOros2_control_node[2026-06-14 04:39:57.291] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.74sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.74sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.74sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9323] ×2 + 0.81sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.935] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-06-14 04:39:57.936] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.563464 ms (missed cycles : 5).[0m ×2 + 1.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 1.36sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.63sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.63sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.63sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.63sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.64sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.65sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.65sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.65sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.65sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.66sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.66sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.66sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 1.66sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 2.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 2.02sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 2.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.28sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.30sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 2.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.81sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.81sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.81sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 2.81sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.81sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.81sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 2.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 2.86sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 2.87sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.87sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.87sINFOplatform_velocity_controllerconfigure successful + 2.87sINFOros2_control_nodeconfigure successful[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.88sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 3.79sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 3.79sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 5.38sINFOobjective_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 + 5.38sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.40sINFOobjective_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 : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 5.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 6.76sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 36 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810954 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810954 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 33 warnings · 665 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9327] ×2 + 0.01sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.29sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.30sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.30sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.30sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.30sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.30sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.31sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.31sWARNcontroller_managerOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.31sWARNros2_control_nodeOverrun might occur, Total time : 4226.669 us (Expected < 1666.667 us) --> Read time : 75.302 us, Update time : 3853.449 us (Switch time : 3810.937 us (Switch chained mode time : 0.520 us, perform mode change time : 5.150 us, Activation time : 3800.487 us, Deactivation time : 0.320 us)), Write time : 297.918 us[0m ×2 + 0.31sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 0.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9317] ×2 + 0.67sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885471 ms (missed cycles : 3).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.92sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.92sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 0.95sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.95sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.96sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.96sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.98sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.98sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us + 1.03sWARNros2_control_nodeOverrun might occur, Total time : 1899.364 us (Expected < 1666.667 us) --> Read time : 122.614 us, Update time : 1519.552 us, Write time : 257.198 us[0m ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.406] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.408] [info] Controller state will be published at 10 Hz. ×2 + 1.19sINFOros2_control_node[2026-06-14 04:39:59.409] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o + 1.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_kw28a7jz --params-file /tmp/launch_params_2yry6brt --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qr827u__ --params-file /tmp/launch_params_evu5kv_o [0m ×2 + 1.48sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9325] ×2 + 1.52sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.52sINFOplatform_velocity_controllerconfigure successful + 1.52sINFOros2_control_nodeconfigure successful[0m ×2 + 1.52sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.52sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.53sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9315] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805700 ms (missed cycles : 3).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781412000.42549181 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781412000.43572593 seconds ×3 + 2.44sWARNcontroller_managerOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us + 2.44sWARNros2_control_nodeOverrun might occur, Total time : 2131.050 us (Expected < 1666.667 us) --> Read time : 106.343 us, Update time : 1760.239 us, Write time : 264.468 us[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781412000.97212529 seconds. ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781412000.98226857 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948636 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781412001.51488161 seconds. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781412001.66547728 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781412002.22791648 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sWARNcontroller_managerOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sWARNros2_control_nodeOverrun might occur, Total time : 3145.028 us (Expected < 1666.667 us) --> Read time : 98.653 us, Update time : 2825.389 us (Switch time : 2783.808 us (Switch chained mode time : 0.540 us, perform mode change time : 2.490 us, Activation time : 2772.778 us, Deactivation time : 0.430 us)), Write time : 220.986 us[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781412002.27805591 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201936 ms (missed cycles : 4).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781412002.82240963 seconds. ×3 + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131534 ms (missed cycles : 4).[0m ×2 + 5.41sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755324 ms (missed cycles : 5).[0m ×2 | ||||