67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.5s | 3 errors · 234 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982210 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982210 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314508 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314508 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951419 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951419 ms (missed cycles : 2).[0m ×2 + 2.80sINFOjoint_trajectory_controllerGot request to cancel goal + 2.80sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.80sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.80sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.84sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781909458.98049259 seconds ×3 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086435 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086435 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781909459.51798320 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (1.051e-06 s). ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885999 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885999 ms (missed cycles : 5).[0m ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.69sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.69sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.69sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.69sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771883 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771883 ms (missed cycles : 5).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.018205 ms (missed cycles : 7). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.018205 ms (missed cycles : 7).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.469018 ms (missed cycles : 8). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.469018 ms (missed cycles : 8).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316845 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.316845 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282915 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282915 ms (missed cycles : 4).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913575 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913575 ms (missed cycles : 3).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023519 ms (missed cycles : 4). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023519 ms (missed cycles : 4).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942115 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942115 ms (missed cycles : 3).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728334 ms (missed cycles : 6). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.728334 ms (missed cycles : 6).[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178444 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178444 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408832 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408832 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163798 ms (missed cycles : 2). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.163798 ms (missed cycles : 2).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370480 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370480 ms (missed cycles : 2).[0m ×2 + 19.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942919 ms (missed cycles : 5). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942919 ms (missed cycles : 5).[0m ×2 + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038164 ms (missed cycles : 4). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038164 ms (missed cycles : 4).[0m ×2 + 21.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109269 ms (missed cycles : 3). + 21.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109269 ms (missed cycles : 3).[0m ×2 + 22.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876866 ms (missed cycles : 2). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.876866 ms (missed cycles : 2).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559259 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559259 ms (missed cycles : 3).[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672864 ms (missed cycles : 2). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672864 ms (missed cycles : 2).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.701533 ms (missed cycles : 6). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.701533 ms (missed cycles : 6).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624701 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624701 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657890 ms (missed cycles : 3). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657890 ms (missed cycles : 3).[0m ×2 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948763 ms (missed cycles : 2). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948763 ms (missed cycles : 2).[0m ×2 + 30.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720012 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720012 ms (missed cycles : 2).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965571 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965571 ms (missed cycles : 2).[0m ×2 + 32.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471584 ms (missed cycles : 4). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.471584 ms (missed cycles : 4).[0m ×2 + 32.53sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.15sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 33.15sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055283 ms (missed cycles : 2). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055283 ms (missed cycles : 2).[0m ×2 + 34.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996237 ms (missed cycles : 2). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996237 ms (missed cycles : 2).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980525 ms (missed cycles : 6). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.980525 ms (missed cycles : 6).[0m ×2 + 36.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625823 ms (missed cycles : 6). + 36.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.625823 ms (missed cycles : 6).[0m ×2 + 37.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663248 ms (missed cycles : 3). + 37.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663248 ms (missed cycles : 3).[0m ×2 + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844081 ms (missed cycles : 3). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844081 ms (missed cycles : 3).[0m ×2 + 39.55sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832584 ms (missed cycles : 2). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832584 ms (missed cycles : 2).[0m ×2 + 40.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033199 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033199 ms (missed cycles : 2).[0m ×2 + 41.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199777 ms (missed cycles : 2). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199777 ms (missed cycles : 2).[0m ×2 + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693405 ms (missed cycles : 2). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693405 ms (missed cycles : 2).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491109 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491109 ms (missed cycles : 3).[0m ×2 + 44.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288378 ms (missed cycles : 4). + 44.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288378 ms (missed cycles : 4).[0m ×2 + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446099 ms (missed cycles : 3). + 45.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446099 ms (missed cycles : 3).[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009598 ms (missed cycles : 5). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009598 ms (missed cycles : 5).[0m ×2 + 48.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852448 ms (missed cycles : 6). + 48.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.852448 ms (missed cycles : 6).[0m ×2 + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933483 ms (missed cycles : 2). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933483 ms (missed cycles : 2).[0m ×2 + 49.65sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767492 ms (missed cycles : 4). + 50.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767492 ms (missed cycles : 4).[0m ×2 + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647357 ms (missed cycles : 3). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647357 ms (missed cycles : 3).[0m ×2 + 52.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770597 ms (missed cycles : 2). + 52.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770597 ms (missed cycles : 2).[0m ×2 + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418847 ms (missed cycles : 3). + 53.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418847 ms (missed cycles : 3).[0m ×2 + 54.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657328 ms (missed cycles : 3). + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.657328 ms (missed cycles : 3).[0m ×2 + 55.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443098 ms (missed cycles : 2). + 55.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443098 ms (missed cycles : 2).[0m ×2 + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265198 ms (missed cycles : 2). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265198 ms (missed cycles : 2).[0m ×2 + 57.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076585 ms (missed cycles : 5). + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076585 ms (missed cycles : 5).[0m ×2 + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176736 ms (missed cycles : 6). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176736 ms (missed cycles : 6).[0m ×2 + 59.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135487 ms (missed cycles : 3). + 59.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135487 ms (missed cycles : 3).[0m ×2 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202300 ms (missed cycles : 2). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202300 ms (missed cycles : 2).[0m ×2 + 62.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285064 ms (missed cycles : 2). + 62.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.285064 ms (missed cycles : 2).[0m ×2 + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987322 ms (missed cycles : 2). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.987322 ms (missed cycles : 2).[0m ×2 + 63.52sINFOobjective_server_nodePlanning for 28 path waypoints. ×3 + 64.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.936286 ms (missed cycles : 6). + 64.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.936286 ms (missed cycles : 6).[0m ×2 + 65.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658088 ms (missed cycles : 3). + 65.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658088 ms (missed cycles : 3).[0m ×2 + 66.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286627 ms (missed cycles : 4). + 66.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.286627 ms (missed cycles : 4).[0m ×2 + 67.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147804 ms (missed cycles : 4). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147804 ms (missed cycles : 4).[0m ×2 + 68.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764566 ms (missed cycles : 2). + 68.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764566 ms (missed cycles : 2).[0m ×2 + 69.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963391 ms (missed cycles : 3). + 69.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963391 ms (missed cycles : 3).[0m ×2 + 70.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423778 ms (missed cycles : 4). + 70.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.423778 ms (missed cycles : 4).[0m ×2 + 71.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501449 ms (missed cycles : 2). + 71.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501449 ms (missed cycles : 2).[0m ×2 + 72.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 72.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 73.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 73.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 74.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 74.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 75.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 75.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 76.39sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 76.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 76.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 76.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 77.28sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 78.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 78.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 79.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 79.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.0s | 183 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 seconds ×3 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 1.42sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 1.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.45sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.45sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.46sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.46sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781909302.00873399 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781909302.54682684 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794811 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794811 ms (missed cycles : 5).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740771 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740771 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417873 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417873 ms (missed cycles : 3).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312748 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312748 ms (missed cycles : 3).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511527 ms (missed cycles : 6). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511527 ms (missed cycles : 6).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323810 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323810 ms (missed cycles : 2).[0m ×2 + 13.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934418 ms (missed cycles : 5). + 13.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.934418 ms (missed cycles : 5).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500974 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500974 ms (missed cycles : 3).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964034 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.964034 ms (missed cycles : 5).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425367 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425367 ms (missed cycles : 2).[0m ×2 + 17.23sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978527 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978527 ms (missed cycles : 2).[0m ×2 + 18.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309101 ms (missed cycles : 5). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.309101 ms (missed cycles : 5).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871365 ms (missed cycles : 3). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871365 ms (missed cycles : 3).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657135 ms (missed cycles : 2). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.657135 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425256 ms (missed cycles : 3). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425256 ms (missed cycles : 3).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048041 ms (missed cycles : 4). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048041 ms (missed cycles : 4).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971407 ms (missed cycles : 7). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.971407 ms (missed cycles : 7).[0m ×2 + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002188 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002188 ms (missed cycles : 3).[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205053 ms (missed cycles : 6). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.205053 ms (missed cycles : 6).[0m ×2 + 27.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792952 ms (missed cycles : 5). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792952 ms (missed cycles : 5).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717305 ms (missed cycles : 3). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717305 ms (missed cycles : 3).[0m ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549972 ms (missed cycles : 4). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549972 ms (missed cycles : 4).[0m ×2 + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937861 ms (missed cycles : 2). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937861 ms (missed cycles : 2).[0m ×2 + 31.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230395 ms (missed cycles : 2). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230395 ms (missed cycles : 2).[0m ×2 + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789347 ms (missed cycles : 2). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789347 ms (missed cycles : 2).[0m ×2 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130669 ms (missed cycles : 4). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.130669 ms (missed cycles : 4).[0m ×2 + 34.78sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251364 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251364 ms (missed cycles : 2).[0m ×2 + 36.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902051 ms (missed cycles : 2). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902051 ms (missed cycles : 2).[0m ×2 + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025922 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025922 ms (missed cycles : 2).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763112 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763112 ms (missed cycles : 2).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897012 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897012 ms (missed cycles : 2).[0m ×2 + 40.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536427 ms (missed cycles : 3). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536427 ms (missed cycles : 3).[0m ×2 + 41.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456591 ms (missed cycles : 4). + 41.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456591 ms (missed cycles : 4).[0m ×2 + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147765 ms (missed cycles : 4). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147765 ms (missed cycles : 4).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889972 ms (missed cycles : 5). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889972 ms (missed cycles : 5).[0m ×2 + 44.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023102 ms (missed cycles : 4). + 44.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023102 ms (missed cycles : 4).[0m ×2 + 45.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677976 ms (missed cycles : 2). + 45.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677976 ms (missed cycles : 2).[0m ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865650 ms (missed cycles : 2). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865650 ms (missed cycles : 2).[0m ×2 + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795212 ms (missed cycles : 2). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795212 ms (missed cycles : 2).[0m ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689776 ms (missed cycles : 4). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689776 ms (missed cycles : 4).[0m ×2 + 50.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.154984 ms (missed cycles : 7). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.154984 ms (missed cycles : 7).[0m ×2 + 51.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306931 ms (missed cycles : 4). + 51.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.306931 ms (missed cycles : 4).[0m ×2 + 52.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250354 ms (missed cycles : 5). + 52.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.250354 ms (missed cycles : 5).[0m ×2 + 53.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754462 ms (missed cycles : 2). + 53.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754462 ms (missed cycles : 2).[0m ×2 + 54.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384804 ms (missed cycles : 2). + 54.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384804 ms (missed cycles : 2).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265560 ms (missed cycles : 4). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265560 ms (missed cycles : 4).[0m ×2 + 56.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830064 ms (missed cycles : 2). + 56.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830064 ms (missed cycles : 2).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 60.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 60.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 60.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 61.08sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 61.40sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 61.42sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 61.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 62.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 62.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.3s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.55sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750937 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750937 ms (missed cycles : 3).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072185 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072185 ms (missed cycles : 4).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399695 ms (missed cycles : 3). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399695 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200661 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.200661 ms (missed cycles : 4).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066511 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066511 ms (missed cycles : 4).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820927 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820927 ms (missed cycles : 2).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345859 ms (missed cycles : 3). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345859 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203810 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203810 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997332 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997332 ms (missed cycles : 2).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732444 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732444 ms (missed cycles : 2).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695828 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695828 ms (missed cycles : 3).[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633264 ms (missed cycles : 5). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633264 ms (missed cycles : 5).[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423227 ms (missed cycles : 5). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.423227 ms (missed cycles : 5).[0m ×2 + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923459 ms (missed cycles : 3). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923459 ms (missed cycles : 3).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549613 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549613 ms (missed cycles : 2).[0m ×2 + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479259 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479259 ms (missed cycles : 2).[0m ×2 + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439563 ms (missed cycles : 4). + 24.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.439563 ms (missed cycles : 4).[0m ×2 + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562898 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562898 ms (missed cycles : 2).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974115 ms (missed cycles : 5). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.974115 ms (missed cycles : 5).[0m ×2 + 26.73sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719968 ms (missed cycles : 3). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719968 ms (missed cycles : 3).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520244 ms (missed cycles : 3). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520244 ms (missed cycles : 3).[0m ×2 + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069397 ms (missed cycles : 2). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069397 ms (missed cycles : 2).[0m ×2 + 30.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068462 ms (missed cycles : 2). + 30.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068462 ms (missed cycles : 2).[0m ×2 + 31.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767817 ms (missed cycles : 2). + 31.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767817 ms (missed cycles : 2).[0m ×2 + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864695 ms (missed cycles : 3). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864695 ms (missed cycles : 3).[0m ×2 + 32.93sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511525 ms (missed cycles : 3). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511525 ms (missed cycles : 3).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610868 ms (missed cycles : 3). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610868 ms (missed cycles : 3).[0m ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686563 ms (missed cycles : 3). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686563 ms (missed cycles : 3).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782718 ms (missed cycles : 3). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782718 ms (missed cycles : 3).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006164 ms (missed cycles : 4). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006164 ms (missed cycles : 4).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312472 ms (missed cycles : 4). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.312472 ms (missed cycles : 4).[0m ×2 + 40.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405196 ms (missed cycles : 4). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.405196 ms (missed cycles : 4).[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473668 ms (missed cycles : 4). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473668 ms (missed cycles : 4).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350400 ms (missed cycles : 4). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.350400 ms (missed cycles : 4).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960591 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960591 ms (missed cycles : 2).[0m ×2 + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416374 ms (missed cycles : 3). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416374 ms (missed cycles : 3).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732799 ms (missed cycles : 2). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732799 ms (missed cycles : 2).[0m ×2 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056382 ms (missed cycles : 5). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056382 ms (missed cycles : 5).[0m ×2 + 47.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919726 ms (missed cycles : 3). + 47.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919726 ms (missed cycles : 3).[0m ×2 + 48.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939094 ms (missed cycles : 6). + 48.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.939094 ms (missed cycles : 6).[0m ×2 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759142 ms (missed cycles : 2). + 49.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759142 ms (missed cycles : 2).[0m ×2 + 50.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918281 ms (missed cycles : 2). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918281 ms (missed cycles : 2).[0m ×2 + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217966 ms (missed cycles : 4). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217966 ms (missed cycles : 4).[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043101 ms (missed cycles : 2). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.043101 ms (missed cycles : 2).[0m ×2 + 53.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944711 ms (missed cycles : 2). + 53.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944711 ms (missed cycles : 2).[0m ×2 + 54.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868315 ms (missed cycles : 2). + 54.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868315 ms (missed cycles : 2).[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375476 ms (missed cycles : 4). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375476 ms (missed cycles : 4).[0m ×2 + 56.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898170 ms (missed cycles : 2). + 56.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898170 ms (missed cycles : 2).[0m ×2 + 57.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525454 ms (missed cycles : 4). + 57.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525454 ms (missed cycles : 4).[0m ×2 + 58.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781909587.81126356 seconds ×3 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394370 ms (missed cycles : 4). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394370 ms (missed cycles : 4).[0m ×2 + 59.40sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781909588.36037612 seconds. ×3 + 59.68sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 59.70sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585047 ms (missed cycles : 3). + 60.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585047 ms (missed cycles : 3).[0m ×2 + 61.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933088 ms (missed cycles : 4). + 61.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933088 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.4s | 174 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781909394.86615443 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781909395.40987515 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.65sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.65sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606153 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606153 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166441 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166441 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206531 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206531 ms (missed cycles : 3).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026845 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026845 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431629 ms (missed cycles : 2). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431629 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082545 ms (missed cycles : 5). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082545 ms (missed cycles : 5).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479678 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479678 ms (missed cycles : 5).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242661 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242661 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750616 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750616 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121520 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.121520 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670291 ms (missed cycles : 4). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670291 ms (missed cycles : 4).[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587136 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587136 ms (missed cycles : 2).[0m ×2 + 18.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001789 ms (missed cycles : 3). + 18.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001789 ms (missed cycles : 3).[0m ×2 + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576029 ms (missed cycles : 5). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576029 ms (missed cycles : 5).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450170 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450170 ms (missed cycles : 3).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368841 ms (missed cycles : 6). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.368841 ms (missed cycles : 6).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954892 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954892 ms (missed cycles : 2).[0m ×2 + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995399 ms (missed cycles : 2). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995399 ms (missed cycles : 2).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777956 ms (missed cycles : 2). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777956 ms (missed cycles : 2).[0m ×2 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981338 ms (missed cycles : 4). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981338 ms (missed cycles : 4).[0m ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751303 ms (missed cycles : 3). + 27.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751303 ms (missed cycles : 3).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836429 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836429 ms (missed cycles : 2).[0m ×2 + 29.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247394 ms (missed cycles : 2). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247394 ms (missed cycles : 2).[0m ×2 + 30.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259725 ms (missed cycles : 2). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259725 ms (missed cycles : 2).[0m ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808169 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808169 ms (missed cycles : 2).[0m ×2 + 32.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843948 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843948 ms (missed cycles : 2).[0m ×2 + 32.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.86sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851725 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851725 ms (missed cycles : 2).[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815424 ms (missed cycles : 3). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815424 ms (missed cycles : 3).[0m ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051404 ms (missed cycles : 4). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.051404 ms (missed cycles : 4).[0m ×2 + 36.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820921 ms (missed cycles : 2). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820921 ms (missed cycles : 2).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401683 ms (missed cycles : 2). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401683 ms (missed cycles : 2).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102212 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102212 ms (missed cycles : 2).[0m ×2 + 39.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995802 ms (missed cycles : 2). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995802 ms (missed cycles : 2).[0m ×2 + 40.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190571 ms (missed cycles : 2). + 40.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190571 ms (missed cycles : 2).[0m ×2 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633773 ms (missed cycles : 3). + 41.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633773 ms (missed cycles : 3).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.141202 ms (missed cycles : 7). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.141202 ms (missed cycles : 7).[0m ×2 + 43.67sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021848 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021848 ms (missed cycles : 2).[0m ×2 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964327 ms (missed cycles : 4). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.964327 ms (missed cycles : 4).[0m ×2 + 46.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644030 ms (missed cycles : 4). + 46.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.644030 ms (missed cycles : 4).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733675 ms (missed cycles : 2). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733675 ms (missed cycles : 2).[0m ×2 + 48.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161942 ms (missed cycles : 4). + 48.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161942 ms (missed cycles : 4).[0m ×2 + 49.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940758 ms (missed cycles : 3). + 49.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940758 ms (missed cycles : 3).[0m ×2 + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727329 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727329 ms (missed cycles : 2).[0m ×2 + 51.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280411 ms (missed cycles : 4). + 51.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280411 ms (missed cycles : 4).[0m ×2 + 52.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719347 ms (missed cycles : 3). + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719347 ms (missed cycles : 3).[0m ×2 + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310048 ms (missed cycles : 4). + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310048 ms (missed cycles : 4).[0m ×2 + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407088 ms (missed cycles : 2). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407088 ms (missed cycles : 2).[0m ×2 + 55.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788431 ms (missed cycles : 2). + 55.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788431 ms (missed cycles : 2).[0m ×2 + 56.31sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781909448.32000852 seconds ×3 + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297161 ms (missed cycles : 3). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297161 ms (missed cycles : 3).[0m ×2 + 56.85sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781909448.86298037 seconds. ×3 + 57.15sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 57.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710921 ms (missed cycles : 2). + 57.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710921 ms (missed cycles : 2).[0m ×2 + 58.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427110 ms (missed cycles : 5). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427110 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 681 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.17sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.50sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.50sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.50sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.50sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.50sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.50sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.50sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.50sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.85sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.85sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.85sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.85sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.85sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.85sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 0.91sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.91sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.92sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.92sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.94sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.20sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.20sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 1.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.80sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.80sINFOmove_groupClearing octomap...[0m ×2 + 1.80sINFOmove_groupOctomap cleared.[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 2.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 3.63sINFOobjective_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 + 3.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.68sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.24sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.24sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.46sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.28sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.28sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227190 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227190 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008162 ms (missed cycles : 4). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.008162 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573463 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573463 ms (missed cycles : 3).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845149 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845149 ms (missed cycles : 2).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414851 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414851 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811338 ms (missed cycles : 5). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811338 ms (missed cycles : 5).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002113 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002113 ms (missed cycles : 2).[0m ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641068 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641068 ms (missed cycles : 3).[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898372 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898372 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878215 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878215 ms (missed cycles : 3).[0m ×2 + 17.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703035 ms (missed cycles : 2). + 17.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703035 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335619 ms (missed cycles : 5). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335619 ms (missed cycles : 5).[0m ×2 + 19.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731087 ms (missed cycles : 2). + 19.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731087 ms (missed cycles : 2).[0m ×2 + 21.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867624 ms (missed cycles : 2). + 21.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867624 ms (missed cycles : 2).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013128 ms (missed cycles : 2). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013128 ms (missed cycles : 2).[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873141 ms (missed cycles : 5). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873141 ms (missed cycles : 5).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439339 ms (missed cycles : 4). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439339 ms (missed cycles : 4).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684176 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.684176 ms (missed cycles : 3).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624040 ms (missed cycles : 2). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624040 ms (missed cycles : 2).[0m ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644659 ms (missed cycles : 2). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644659 ms (missed cycles : 2).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443159 ms (missed cycles : 2). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443159 ms (missed cycles : 2).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242279 ms (missed cycles : 3). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242279 ms (missed cycles : 3).[0m ×2 + 30.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702988 ms (missed cycles : 5). + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702988 ms (missed cycles : 5).[0m ×2 + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123851 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123851 ms (missed cycles : 3).[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995741 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995741 ms (missed cycles : 2).[0m ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4). + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219848 ms (missed cycles : 4).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171142 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171142 ms (missed cycles : 2).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692356 ms (missed cycles : 3). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692356 ms (missed cycles : 3).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609340 ms (missed cycles : 3). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609340 ms (missed cycles : 3).[0m ×2 + 38.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759090 ms (missed cycles : 2). + 38.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.759090 ms (missed cycles : 2).[0m ×2 + 39.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886160 ms (missed cycles : 3). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886160 ms (missed cycles : 3).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446138 ms (missed cycles : 5). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.446138 ms (missed cycles : 5).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517268 ms (missed cycles : 3). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517268 ms (missed cycles : 3).[0m ×2 + 42.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439946 ms (missed cycles : 3). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439946 ms (missed cycles : 3).[0m ×2 + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2).[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4).[0m ×2 + 47.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 47.27sINFOjoint_trajectory_controllerGoal reached, success! + 47.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 seconds ×3 + 47.87sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 48.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 48.65sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 48.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652754 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652754 ms (missed cycles : 3).[0m ×2 + 2.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.07sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602661 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602661 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781909363.48113704 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963690 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963690 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781909365.01601434 seconds. ×3 + 3.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025234 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025234 ms (missed cycles : 4).[0m ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.08sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898530 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898530 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955379 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.955379 ms (missed cycles : 5).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052149 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052149 ms (missed cycles : 4).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628726 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628726 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736460 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736460 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204553 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204553 ms (missed cycles : 4).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078413 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078413 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398846 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398846 ms (missed cycles : 5).[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937961 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937961 ms (missed cycles : 3).[0m ×2 + 14.29sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589761 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589761 ms (missed cycles : 3).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999972 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999972 ms (missed cycles : 2).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986475 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986475 ms (missed cycles : 3).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081177 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081177 ms (missed cycles : 2).[0m ×2 + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013392 ms (missed cycles : 4). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.013392 ms (missed cycles : 4).[0m ×2 + 20.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632387 ms (missed cycles : 3). + 20.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632387 ms (missed cycles : 3).[0m ×2 + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155771 ms (missed cycles : 4). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.155771 ms (missed cycles : 4).[0m ×2 + 22.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200915 ms (missed cycles : 5). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.200915 ms (missed cycles : 5).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688733 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688733 ms (missed cycles : 2).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621034 ms (missed cycles : 3). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621034 ms (missed cycles : 3).[0m ×2 + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731953 ms (missed cycles : 5). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731953 ms (missed cycles : 5).[0m ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420634 ms (missed cycles : 2). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420634 ms (missed cycles : 2).[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878365 ms (missed cycles : 3). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878365 ms (missed cycles : 3).[0m ×2 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643808 ms (missed cycles : 6). + 28.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.643808 ms (missed cycles : 6).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603469 ms (missed cycles : 3). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603469 ms (missed cycles : 3).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2).[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3).[0m ×2 + 33.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781909394.86615443 seconds ×3 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3).[0m ×2 + 34.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781909395.40987515 seconds. ×3 + 34.32sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2). + 34.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2).[0m ×2 + 35.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.4s | 52 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375476 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375476 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898170 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898170 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525454 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525454 ms (missed cycles : 4).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.90sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781909587.81126356 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394370 ms (missed cycles : 4). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394370 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781909588.36037612 seconds. ×3 + 3.47sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.75sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.75sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.75sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585047 ms (missed cycles : 3). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585047 ms (missed cycles : 3).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933088 ms (missed cycles : 4). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.933088 ms (missed cycles : 4).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381765 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.381765 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904694 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904694 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.92sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 8.01sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (7.2e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 8.38sINFOobjective_server_nodeFound path in 98 iterations (0.0399638 s). ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953754 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953754 ms (missed cycles : 2).[0m ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.29sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418683 ms (missed cycles : 3). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418683 ms (missed cycles : 3).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966312 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966312 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597472 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597472 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781909600.20194221 seconds ×3 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3).[0m ×2 + 15.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781909600.76947665 seconds. ×3 + 15.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 15.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 15.86sINFOmove_groupClearing octomap...[0m ×2 + 15.86sINFOmove_groupOctomap cleared.[0m ×2 + 16.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781909601.24967313 seconds ×3 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3).[0m ×2 + 16.87sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781909601.78218436 seconds. ×3 + 17.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781909602.17279553 seconds ×3 + 17.49sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 74 errors · 33 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4).[0m ×2 + 2.71sINFOjoint_trajectory_controllerGoal reached, success! + 2.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781909600.20194221 seconds ×3 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781909600.76947665 seconds. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.31sINFOmove_groupClearing octomap...[0m ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781909601.24967313 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781909601.78218436 seconds. ×3 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781909602.17279553 seconds ×3 + 4.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821153 ms (missed cycles : 4). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821153 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562757 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562757 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013630 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.013630 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857728 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857728 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367182 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367182 ms (missed cycles : 3).[0m ×2 + 10.99sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.01sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.02sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 11.03sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 11.06sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 11.09sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.10sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.12sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.13sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.15sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.17sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.19sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.20sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.22sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.25sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.25sINFOcontroller_managerShutdown request received.... + 11.25sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.25sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.25sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.25sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.25sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.25sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.25sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.25sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.25sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.25sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.25sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.25sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.25sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.25sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.25sINFOcontroller_managerShutting down the controller manager. + 11.27sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.28sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.29sERRORmove_group-20process has died [pid 9236, 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_nwkrg4f3 --params-file /tmp/launch_params_r9j0jxul --params-file /tmp/launch_params_apjd8ukm --params-file /tmp/launch_params_22paoedf --params-file /tmp/launch_params_hhb1ocmu --params-file /tmp/launch_params_20yvedrd --params-file /tmp/launch_params__6qopxny --params-file /tmp/launch_params_9ipbjax_ --params-file /tmp/launch_params_7sk92peq']. ×2 + 11.29sINFOweb_video_server-31process has finished cleanly [pid 9295] ×2 + 11.30sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.32sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.32sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.34sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.35sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.36sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.36sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.36sINFOcontroller_serverCleaning up + 11.37sINFOlocal_costmap.local_costmapCleaning up + 11.37sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sERRORobjective_server_node_main-25process has died [pid 9288, 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_m2majnx8 --params-file /tmp/launch_params_2oqvo4r_ --params-file /tmp/launch_params_96ipct7i --params-file /tmp/launch_params_44qwz61g --params-file /tmp/launch_params_uohqiv4n --params-file /tmp/launch_params_8p5s97js --params-file /tmp/launch_params_hxe5vnh3 --params-file /tmp/launch_params_wen34meu --params-file /tmp/launch_params_jjsf2kre']. ×2 + 11.37sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.37sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.37sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.37sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.37sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.37sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.37sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.37sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.37sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.37sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.37sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.37sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.37sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.37sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.37sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.37sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.37sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.37sERRORmove_groupStack trace (most recent call last) in thread 9800: ×2 + 11.37sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.37sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff799f3ca63, in __clone ×2 + 11.37sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff799eafaa3, in ×2 + 11.37sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a141db3, in ×2 + 11.37sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff79a7961c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.37sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a4b44d0, in rclcpp::Rate::sleep() ×2 + 11.37sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a407a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.37sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff79a3cca71, in ×2 + 11.37sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a110390, in __cxa_throw ×2 + 11.37sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a0faa54, in std::terminate() ×2 + 11.37sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a1100d9, in ×2 + 11.37sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff79a0faff4, in ×2 + 11.37sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff799e3b8fe, in abort ×2 + 11.37sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff799e5827d, in raise ×2 + 11.37sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff799eb1b2c, in pthread_kill ×2 + 11.37sERRORmove_groupAborted (Signal sent by tkill() 9236 0) ×2 + 11.38sINFOobjective_server_node[2026-06-19 22:53:28.700] [moveit_pro_license] [info] ×2 + 11.38sINFOobjective_server_node************************************************* ×4 + 11.38sINFOobjective_server_node* MoveIt Pro License ×2 + 11.38sINFOobjective_server_node* Application has successfully terminated ×2 + 11.38sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.38sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.38sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.38sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.38sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.38sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.38sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.38sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.38sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.38sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.38sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.38sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.38sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.38sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.38sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56247f89b6a4, in _start ×2 + 11.38sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94015d828a, in __libc_start_main ×2 + 11.38sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94015d81d0, in ×2 + 11.38sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94015f5bbd, in exit ×2 + 11.38sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f94015f5a75, in ×2 + 11.38sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9401ac74a2, in spdlog::details::registry::~registry() ×2 + 11.38sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9401ad269d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.38sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f9401acc965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.38sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56247f8a2315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.38sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56247f8a15a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.38sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56247f89db7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.38sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x56247f89bd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.38sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f940215d454, in rclcpp::Node::~Node() ×2 + 11.38sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9402118515, in ×2 + 11.38sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f940215bd20, in ×2 + 11.38sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f940215bc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.38sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f94021185d9, in ×2 + 11.38sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f940211d161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.38sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f93b0acb140]) ×2 + 11.38sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.38sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.38sINFOodom_qos_relay.pymain() ×2 + 11.38sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.38sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.38sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.38sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.38sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.38sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.38sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.38sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.38sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.38sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.39sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.39sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.39sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.41sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.41sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.41sINFOmap_serverDeactivating + 11.41sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.42sINFOmap_serverCleaning up + 11.42sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.42sINFOsmoother_serverCleaning up + 11.43sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.43sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.43sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.44sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.44sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.44sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.44sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.44sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.44sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.44sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.44sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.44sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.44sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.44sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.47sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.47sINFOros2_control_nodepublish_async_failures_ 5[0m ×4 + 11.93sERRORcomponent_container_isolated-1process has died [pid 9132, 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_vk07lbx2 --params-file /tmp/launch_params_kxuvwcej -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.10sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9294] ×2 + 12.10sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 12.20sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9283] ×2 + 12.20sINFOexecute_objective_bridge-27process has finished cleanly [pid 9290] ×2 + 12.21sERRORui_teleop_bridge-28process has died [pid 9292, 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_n4nupj_2']. ×2 + 12.21sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9242] ×2 + 12.26sINFOparameter_manager_node-21process has finished cleanly [pid 9238] ×2 + 12.28sINFOwaypoint_manager_node-22process has finished cleanly [pid 9241] ×2 + 12.30sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9138] ×2 + 12.33sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9137] ×2 + 12.36sINFOstatic_transform_publisher-4process has finished cleanly [pid 9135] ×2 + 12.37sINFOstatic_transform_publisher-3process has finished cleanly [pid 9134] ×2 + 12.39sINFOstatic_transform_publisher-2process has finished cleanly [pid 9133] ×2 + 12.40sERRORodom_qos_relay.py-5process has died [pid 9136, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.38sINFOcomponent_container_mt-26process has finished cleanly [pid 9289] ×2 + 13.51sINFOweb_bridge-29process has finished cleanly [pid 9293] ×2 + 13.52sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.00sINFOros2_control_node-8process has finished cleanly [pid 9139] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310048 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310048 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407088 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407088 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788431 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788431 ms (missed cycles : 2).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.81sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781909448.32000852 seconds ×3 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297161 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297161 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781909448.86298037 seconds. ×3 + 3.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710921 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710921 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.66sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.66sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.66sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427110 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.427110 ms (missed cycles : 5).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.613390 ms (missed cycles : 6). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.613390 ms (missed cycles : 6).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037105 ms (missed cycles : 5). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.037105 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443474 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443474 ms (missed cycles : 4).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541541 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541541 ms (missed cycles : 3).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982210 ms (missed cycles : 5). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982210 ms (missed cycles : 5).[0m ×2 + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314508 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314508 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951419 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951419 ms (missed cycles : 2).[0m ×2 + 13.43sINFOjoint_trajectory_controllerGot request to cancel goal + 13.43sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.43sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.43sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.47sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781909458.98049259 seconds ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086435 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086435 ms (missed cycles : 2).[0m ×2 + 14.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781909459.51798320 seconds. ×3 + 14.31sINFOobjective_server_nodeFound path in 0 iterations (1.051e-06 s). ×2 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885999 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885999 ms (missed cycles : 5).[0m ×2 + 15.29sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771883 ms (missed cycles : 5). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771883 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 33 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.95sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652754 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.652754 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602661 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602661 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781909363.48113704 seconds ×3 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963690 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963690 ms (missed cycles : 4).[0m ×2 + 9.02sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781909365.01601434 seconds. ×3 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025234 ms (missed cycles : 4). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025234 ms (missed cycles : 4).[0m ×2 + 10.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898530 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.898530 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 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 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781909302.00873399 seconds ×3 + 7.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781909302.54682684 seconds. ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4).[0m ×2 + 7.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4).[0m ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4).[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 4.597472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597472 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781909600.20194221 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781909600.76947665 seconds. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.35sINFOmove_groupClearing octomap...[0m ×2 + 4.35sINFOmove_groupOctomap cleared.[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781909601.24967313 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781909601.78218436 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781909602.17279553 seconds ×3 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821153 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821153 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 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 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144012 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137098 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402400 ms (missed cycles : 4).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 3.30sINFOjoint_trajectory_controllerGoal reached, success! + 3.30sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 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 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_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 | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811043 ms (missed cycles : 5).[0m ×2 + 0.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781909298.53058100 seconds ×3 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.63sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781909299.06858969 seconds. ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051950 ms (missed cycles : 5).[0m ×2 + 1.42sINFOobjective_server_nodeFound path in 0 iterations (2.9881e-05 s). ×2 + 1.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.46sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070611 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955654 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781909302.00873399 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781909302.54682684 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434484 ms (missed cycles : 4).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740439 ms (missed cycles : 4).[0m ×2 + 6.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169181 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 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 | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025702 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292751 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.013233 ms (missed cycles : 5).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781909358.97836614 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575689 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781909359.52097416 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.87sINFOjoint_trajectory_controllerReceived new action goal + 3.87sINFOjoint_trajectory_controllerAccepted new action goal + 3.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185472 ms (missed cycles : 4).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023036 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781909394.86615443 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781909395.40987515 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781909394.86615443 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781909395.40987515 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517655 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338517 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564771 ms (missed cycles : 3).[0m ×2 + 2.81sINFOjoint_trajectory_controllerGoal reached, success! + 2.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.86sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781909394.86615443 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641704 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781909395.40987515 seconds. ×3 + 3.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506851 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570027 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_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 | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_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 | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906154 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538794 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.783316 ms (missed cycles : 5).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.707270 ms (missed cycles : 3).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.57sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781909532.52822208 seconds ×3 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781909533.08113670 seconds. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146937 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593200 ms (missed cycles : 4).[0m ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066598 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597472 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597472 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827254 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.230420 ms (missed cycles : 4).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090010 ms (missed cycles : 4).[0m ×2 + 3.74sINFOjoint_trajectory_controllerGoal reached, success! + 3.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781909600.20194221 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707678 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781909600.76947665 seconds. ×3 + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.35sINFOmove_groupClearing octomap...[0m ×2 + 4.35sINFOmove_groupOctomap cleared.[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781909601.24967313 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549934 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781909601.78218436 seconds. ×3 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781909602.17279553 seconds ×3 + 5.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376276 ms (missed cycles : 4). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[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 | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 21.0s | 15 errors · 299 warnings · 4758 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-19-22-47-12-021533-8f526ba4f99c-9083 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.63sINFOstatic_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' + 8.63sINFOstatic_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' + 8.63sINFOstatic_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' + 8.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.71sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.72sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.73sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.73sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.73sINFOcontroller_managerupdate rate is 600 Hz + 8.73sINFOcontroller_managerOverruns handling is : enabled + 8.73sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.73sWARNcontroller_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. + 8.74sINFOcontroller_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. + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362173 ms (missed cycles : 3). + 8.78sINFOcontroller_serverCreating controller server + 8.81sINFOlocal_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. + 8.82sINFOlocal_costmap.local_costmapCreating Costmap + 8.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.86sINFOros2_control_node-8process started with pid [9139] ×2 + 8.86sINFOmove_group-20process started with pid [9236] ×2 + 8.86sINFOparameter_manager_node-21process started with pid [9238] ×2 + 8.86sINFOwaypoint_manager_node-22process started with pid [9241] ×2 + 8.86sINFOmove_joint_resampler_node-23process started with pid [9242] ×2 + 8.86sINFOmove_end_effector_resampler_node-24process started with pid [9283] ×2 + 8.86sINFOobjective_server_node_main-25process started with pid [9288] ×2 + 8.86sINFOcomponent_container_mt-26process started with pid [9289] ×2 + 8.86sINFOexecute_objective_bridge-27process started with pid [9290] ×2 + 8.86sINFOui_teleop_bridge-28process started with pid [9292] ×2 + 8.86sINFOweb_bridge-29process started with pid [9293] ×2 + 8.86sINFOtf2_web_republisher_node-30process started with pid [9294] ×2 + 8.86sINFOweb_video_server-31process started with pid [9295] ×2 + 8.88sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.88sINFOcomponent_container_isolated-1process started with pid [9132] ×2 + 8.88sINFOstatic_transform_publisher-2process started with pid [9133] ×2 + 8.89sINFOstatic_transform_publisher-3process started with pid [9134] ×2 + 8.89sINFOstatic_transform_publisher-4process started with pid [9135] ×2 + 8.89sINFOodom_qos_relay.py-5process started with pid [9136] ×2 + 8.89sINFOscan_to_scan_filter_chain-6process started with pid [9137] ×2 + 8.89sINFOscan_to_scan_filter_chain-7process started with pid [9138] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process started with pid [9217] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process started with pid [9218] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process started with pid [9219] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process started with pid [9221] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process started with pid [9223] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process started with pid [9225] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process started with pid [9227] ×2 + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process started with pid [9229] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process started with pid [9231] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process started with pid [9233] ×2 + 8.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process started with pid [9235] ×2 + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.92sINFOmap_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. + 8.92sINFOmap_serverCreating + 8.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.96sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 8.96sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.96sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.97sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.97sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.97sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.97sINFOsmoother_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. + 8.97sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 8.97sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.97sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.97sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.97sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.97sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.97sWARNros2_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 + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362173 ms (missed cycles : 3).[0m ×2 + 9.00sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 9.00sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.02sINFOsmoother_serverCreating smoother server + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.08sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.08sINFOlifecycle_manager_localizationCreating + 9.08sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.11sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.12sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.12sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.12sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.12sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.12sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.12sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.12sINFOmap_serverConfiguring + 9.15sINFOplanner_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. + 9.17sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.17sINFOmap_serverActivating + 9.17sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.18sINFOplanner_serverCreating + 9.20sINFOrobot_state_publisherRobot initialized + 9.20sINFOcontroller_managerReceived robot description from topic. + 9.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.20sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.21sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.21sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.21sINFOglobal_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. + 9.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.22sINFOglobal_costmap.global_costmapCreating Costmap + 9.22sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.25sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.25sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.27sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.27sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.27sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.29sINFObehavior_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. + 9.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.30sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.30sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.31sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.31sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.31sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.36sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.42sINFObt_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. + 9.44sINFObt_navigatorCreating + 9.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.53sINFOwaypoint_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. + 9.54sINFOwaypoint_followerCreating + 9.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.56sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.56sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 9.56sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.59sINFOvelocity_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. + 9.59sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.344461 seconds + 9.59sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.59sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.64sWARNlaser_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. + 9.64sWARNlaser_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. + 9.64sINFOlifecycle_manager_navigationCreating + 9.65sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 9.65sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.66sINFOmove_groupLoaded robot model in 0.344461 seconds[0m ×2 + 9.66sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.66sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.66sWARNscan_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 + 9.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.68sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.68sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.68sINFOcontroller_serverConfiguring controller interface + 9.68sINFOcontroller_servergetting progress checker plugins.. + 9.68sINFOcontroller_servergetting goal checker plugins.. + 9.69sINFOcontroller_serverController frequency set to 20.0000Hz + 9.69sINFOlocal_costmap.local_costmapConfiguring + 9.70sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.71sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.76sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.76sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.76sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.80sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.80sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.81sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.81sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.82sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.85sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.86sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.86sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.88sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.88sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.89sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.89sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.90sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.90sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.92sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.92sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.93sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.94sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.94sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.95sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.95sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.95sINFOcontroller_serverOptimizer reset + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939764 ms (missed cycles : 3). + 9.95sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.95sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 9.95sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939764 ms (missed cycles : 3).[0m ×2 + 9.97sINFOcontroller_serverController Server has FollowPath controllers available. + 9.99sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.99sINFOsmoother_serverConfiguring smoother server + 10.00sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.02sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.03sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.03sINFOplanner_serverConfiguring + 10.03sINFOglobal_costmap.global_costmapConfiguring + 10.04sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.06sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 10.06sINFOwaypoint_manager_nodeLoaded robot model in 0.413474 seconds[0m ×2 + 10.06sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.06sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.06sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.07sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.07sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.07sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.08sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.10sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.10sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.16sFATALplanner_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 + 10.16sINFOplanner_serverCleaning up + 10.16sINFOglobal_costmap.global_costmapCleaning up + 10.17sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.25sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.25sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 10.46sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.46sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... ×2 + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.68sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.69sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.69sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.69sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.69sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.69sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.69sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.69sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.69sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.70sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.70sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.70sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.70sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.71sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.71sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.71sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.71sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.72sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.72sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 11.09sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.09sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.10sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.14sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.14sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.14sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.14sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.14sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.14sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.14sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.14sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.14sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.14sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.14sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.14sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.14sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.14sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.16sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.16sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.16sWARNros2_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 + 11.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.33sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.33sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 11.33sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 11.35sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239354 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239354 ms (missed cycles : 2).[0m ×2 + 11.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 11.35sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperLoaded vacuum_gripper ×2 + 11.36sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.36sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.36sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.37sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.37sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.38sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 11.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripperConfigured and activated vacuum_gripper ×2 + 11.56sINFOobjective_server_node[2026-06-19 22:47:26.060] [moveit_pro_license] [info] ×2 + 11.56sINFOobjective_server_node************************************************* ×4 + 11.56sINFOobjective_server_node* MoveIt Pro License ×2 + 11.56sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.64sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.64sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 11.64sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.66sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 11.66sINFOobjective_server_nodeLoaded robot model in 0.026092 seconds[0m ×2 + 11.66sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.66sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.69sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 11.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 11.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 vacuum_gripper-13process has finished cleanly [pid 9223] ×2 + 11.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.86sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.86sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.87sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.89sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.89sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.89sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.89sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.90sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.90sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.92sINFOobjective_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 + 11.92sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.94sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.94sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 11.97sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 11.99sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 11.99sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 11.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 12.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 12.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 12.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 12.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 12.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 12.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.09sWARNcomponent_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 + 12.23sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.24sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.30sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 12.30sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 12.30sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 12.30sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 12.30sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 12.30sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 12.31sWARNobjective_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 + 12.33sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-11process has finished cleanly [pid 9219] ×2 + 12.36sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 12.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterLoaded imu_sensor_broadcaster ×2 + 12.36sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 12.36sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062608 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.062608 ms (missed cycles : 3).[0m ×2 + 12.38sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 12.38sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 12.38sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 12.38sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster ×2 + 12.44sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 12.44sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 12.44sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.47sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.47sINFOcomponent_container_mtLoaded robot model in 0.358503 seconds[0m ×2 + 12.47sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.47sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.71sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.71sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.71sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.71sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.74sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.74sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.74sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.74sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.74sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.75sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 imu_sensor_broadcaster-10process has finished cleanly [pid 9218] ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.76sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 12.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 12.90sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 12.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 12.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 12.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 12.91sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 12.91sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 12.91sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 12.93sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 12.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.93sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 13.05sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.08sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 13.08sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 13.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 13.09sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 13.16sINFOros2_control_node[2026-06-19 22:47:27.651] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.16sINFOros2_control_node[2026-06-19 22:47:27.655] [info] Controller state will be published at 10 Hz. ×2 + 13.16sINFOros2_control_node[2026-06-19 22:47:27.656] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.21sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.21sINFOmove_groupMoveGroup debug mode is ON + 13.21sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.21sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.25sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.25sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.28sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.28sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 13.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 13.32sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108779 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108779 ms (missed cycles : 4).[0m ×2 + 13.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.49sINFOmove_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
********************************************************
+ 13.50sINFOmove_group ×8 + 13.50sINFOmove_group******************************************************** ×4 + 13.50sINFOmove_group* MoveGroup using: ×2 + 13.50sINFOmove_group* - apply_planning_scene_service ×2 + 13.50sINFOmove_group* - clear_octomap_service ×2 + 13.50sINFOmove_group* - ExecuteTaskSolution ×2 + 13.50sINFOmove_group* - get_group_urdf ×2 + 13.50sINFOmove_group* - load_geometry_from_file ×2 + 13.50sINFOmove_group* - get_planning_scene_service ×2 + 13.50sINFOmove_group* - kinematics_service ×2 + 13.50sINFOmove_group* - save_geometry_to_file ×2 + 13.50sINFOmove_group* - GetPlanningGroups ×2 + 13.50sINFOmove_group* - SetActiveControllerService ×2 + 13.50sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.50sINFOmove_group[0m ×2 + 13.50sINFOmove_group[92mYou can start planning now![0m ×2 + 13.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.52sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 13.54sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-16process has finished cleanly [pid 9229] ×2 + 13.54sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.54sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.54sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.54sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 13.54sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.55sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 13.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.78sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.78sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.78sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.78sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.78sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 13.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 13.81sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 13.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.82sINFOforce_torque_sensor_broadcasterconfigure successful + 13.82sINFOros2_control_nodeconfigure successful[0m ×6 + 13.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.83sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 13.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 14.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.13sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 14.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 14.14sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 14.14sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 14.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-9process has finished cleanly [pid 9217] ×2 + 14.20sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 14.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 ×2 + 14.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 14.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 14.21sINFOplatform_velocity_controller_nav2configure successful + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419519 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419519 ms (missed cycles : 3).[0m ×2 + 14.57sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.57sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 14.57sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 14.57sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 14.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 14.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive platform_velocity_controller_nav2-14process has finished cleanly [pid 9225] ×2 + 14.63sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 14.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerLoaded platform_velocity_controller ×2 + 14.63sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 14.63sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 14.63sINFOplatform_velocity_controllerconfigure successful + 14.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 14.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 14.64sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 14.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controllerConfigured and activated platform_velocity_controller ×2 + 14.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×2 + 14.98sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 15.24sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.24sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.24sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.24sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 15.24sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.24sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 15.26sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 15.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller ×2 + 15.27sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.27sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.53sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.53sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 15.54sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 15.89sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.89sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 15.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 16.15sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.15sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.23sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 16.23sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 16.25sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 16.25sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 16.25sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 16.51sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 16.51sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 16.87sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 16.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 17.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 17.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 17.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 17.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 17.14sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 17.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 17.20sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 17.20sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 17.20sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 17.21sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 17.21sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 17.21sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 17.21sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 17.21sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 17.21sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 17.21sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 17.21sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 17.21sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 17.21sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 17.21sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 17.21sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 17.56sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.56sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.56sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 17.56sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.56sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.56sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 17.59sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 17.62sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 17.62sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 17.62sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.62sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 17.90sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 17.91sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 17.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 18.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 18.51sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 18.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.51sINFOmove_groupClearing octomap...[0m ×2 + 18.51sINFOmove_groupOctomap cleared.[0m ×2 + 18.52sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 19.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 19.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 19.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 19.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 20.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 20.34sINFOobjective_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 + 20.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 20.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 20.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 20.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 20.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 20.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 20.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 20.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 20.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 20.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 20.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 20.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 21.17sINFOros2_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 | 27 warnings · 1146 info |
+ 0.00sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.72sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.73sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.73sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.76sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.76sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.98sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.34sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 1.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.67sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.03sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.08sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.09sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.37sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 6.45sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.89sINFOjoint_trajectory_controllerReceived new action goal + 6.89sINFOjoint_trajectory_controllerAccepted new action goal + 6.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 24 warnings · 1624 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 7.01sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 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/2026-06-19-22-47-12-021533-8f526ba4f99c-9083 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_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 | 18 warnings · 1621 info |
+ 0.00sINFOros2 run controller_manager spawner --controller-manager-timeout 180 platform_velocity_controller-12process has finished cleanly [pid 9221] ×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 + 0.26sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.26sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.26sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.26sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.26sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.26sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [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. ×354 + 0.30sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.30sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.32sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.55sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.56sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.27sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.28sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.28sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 1.54sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.89sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.16sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.23sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.58sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.58sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.58sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.58sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.58sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.58sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.64sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.64sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.64sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.64sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.93sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.53sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.53sINFOmove_groupClearing octomap...[0m ×2 + 3.53sINFOmove_groupOctomap cleared.[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 5.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 1140 info |
+ 0.00sINFOros2_control_node[2026-06-19 22:47:30.028] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-19 22:47:30.030] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-19 22:47:30.031] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081933 ms (missed cycles : 2).[0m ×2 + 0.36sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.36sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_velocity_force_controller-17process has finished cleanly [pid 9231] ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.70sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.72sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.73sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.73sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.76sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.76sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.98sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.98sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 1.34sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 1.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.61sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.61sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.67sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.03sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.03sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 2.08sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.09sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 2.37sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 2.37sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.81sINFOobjective_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 + 4.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.81sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.83sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.83sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 5.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.41sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.41sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 6.45sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 1135 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 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 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 0.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.12sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.12sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.14sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.008] [info] Controller state will be published at 20 Hz. ×2 + 0.36sINFOros2_control_node[2026-06-19 22:47:31.009] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830979 ms (missed cycles : 2).[0m ×2 + 0.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 0.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-18process has finished cleanly [pid 9233] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 1.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.06sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.06sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.06sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.06sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.41sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r + 1.41sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ub6dly_d --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_89jqnr3g --params-file /tmp/launch_params_di638t6r [0m ×2 + 1.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_controller-15process has finished cleanly [pid 9227] ×2 + 1.47sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851036 ms (missed cycles : 2).[0m ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.400] [info] Controller state will be published at 20 Hz. ×2 + 1.76sINFOros2_control_node[2026-06-19 22:47:32.401] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.09sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive arm_only_joint_velocity_controller-19process has finished cleanly [pid 9235] ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781909253.00315213 seconds. ×3 + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.36sINFOmove_groupClearing octomap...[0m ×2 + 2.36sINFOmove_groupOctomap cleared.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781909253.01855302 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316368 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781909253.56070566 seconds. ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781909253.57083702 seconds ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781909254.10852432 seconds. ×3 + 3.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781909254.25916433 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725849 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781909254.82478976 seconds. ×3 + 4.19sINFOobjective_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 + 4.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.20sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781909254.89492536 seconds ×3 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.001665 ms (missed cycles : 5).[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781909255.42941189 seconds. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.80sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.02sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.748339 ms (missed cycles : 5).[0m ×2 + 5.84sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.84sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.28sINFOjoint_trajectory_controllerReceived new action goal + 6.28sINFOjoint_trajectory_controllerAccepted new action goal + 6.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107312 ms (missed cycles : 2).[0m ×2 | ||||