67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.6s
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 | 71.5s | 3 errors · 234 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632726 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632726 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713619 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713619 ms (missed cycles : 6).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092501 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092501 ms (missed cycles : 2).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.359603 ms (missed cycles : 7). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.359603 ms (missed cycles : 7).[0m ×2 + 3.35sINFOjoint_trajectory_controllerGot request to cancel goal + 3.35sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.35sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.35sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781974717.81709981 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781974718.35126734 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734326 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734326 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334949 ms (missed cycles : 4). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334949 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.20sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.20sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.20sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775758 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775758 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724352 ms (missed cycles : 2). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724352 ms (missed cycles : 2).[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805219 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805219 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.567940 ms (missed cycles : 7). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.567940 ms (missed cycles : 7).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728300 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.728300 ms (missed cycles : 3).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132625 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132625 ms (missed cycles : 2).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904631 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904631 ms (missed cycles : 3).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370500 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370500 ms (missed cycles : 2).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008873 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008873 ms (missed cycles : 2).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521417 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521417 ms (missed cycles : 2).[0m ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729779 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729779 ms (missed cycles : 4).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201445 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.201445 ms (missed cycles : 2).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002602 ms (missed cycles : 5). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002602 ms (missed cycles : 5).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330954 ms (missed cycles : 4). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330954 ms (missed cycles : 4).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416097 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416097 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890837 ms (missed cycles : 5). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890837 ms (missed cycles : 5).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669932 ms (missed cycles : 3). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669932 ms (missed cycles : 3).[0m ×2 + 24.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829433 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829433 ms (missed cycles : 3).[0m ×2 + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057974 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057974 ms (missed cycles : 3).[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.445864 ms (missed cycles : 9). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.445864 ms (missed cycles : 9).[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194249 ms (missed cycles : 2). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194249 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926102 ms (missed cycles : 3). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.926102 ms (missed cycles : 3).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098820 ms (missed cycles : 4). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098820 ms (missed cycles : 4).[0m ×2 + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079241 ms (missed cycles : 5). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079241 ms (missed cycles : 5).[0m ×2 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412894 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412894 ms (missed cycles : 3).[0m ×2 + 32.50sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.50sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946172 ms (missed cycles : 5). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.946172 ms (missed cycles : 5).[0m ×2 + 32.92sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803326 ms (missed cycles : 3). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803326 ms (missed cycles : 3).[0m ×2 + 33.63sWARNobjective_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 + 33.63sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405277 ms (missed cycles : 4). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405277 ms (missed cycles : 4).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092191 ms (missed cycles : 5). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092191 ms (missed cycles : 5).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400223 ms (missed cycles : 4). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.400223 ms (missed cycles : 4).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914297 ms (missed cycles : 5). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914297 ms (missed cycles : 5).[0m ×2 + 38.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238317 ms (missed cycles : 2). + 38.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238317 ms (missed cycles : 2).[0m ×2 + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809428 ms (missed cycles : 5). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809428 ms (missed cycles : 5).[0m ×2 + 40.37sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.984029 ms (missed cycles : 6). + 40.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.984029 ms (missed cycles : 6).[0m ×2 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820097 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820097 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387792 ms (missed cycles : 6). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.387792 ms (missed cycles : 6).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744497 ms (missed cycles : 3). + 44.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744497 ms (missed cycles : 3).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527156 ms (missed cycles : 2). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527156 ms (missed cycles : 2).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695569 ms (missed cycles : 2). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695569 ms (missed cycles : 2).[0m ×2 + 47.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726017 ms (missed cycles : 3). + 47.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726017 ms (missed cycles : 3).[0m ×2 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820403 ms (missed cycles : 2). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820403 ms (missed cycles : 2).[0m ×2 + 49.19sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 49.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352914 ms (missed cycles : 3). + 49.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352914 ms (missed cycles : 3).[0m ×2 + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426530 ms (missed cycles : 4). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426530 ms (missed cycles : 4).[0m ×2 + 51.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259597 ms (missed cycles : 4). + 51.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259597 ms (missed cycles : 4).[0m ×2 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044580 ms (missed cycles : 5). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.044580 ms (missed cycles : 5).[0m ×2 + 53.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136304 ms (missed cycles : 4). + 53.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.136304 ms (missed cycles : 4).[0m ×2 + 54.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466078 ms (missed cycles : 5). + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466078 ms (missed cycles : 5).[0m ×2 + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999634 ms (missed cycles : 5). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999634 ms (missed cycles : 5).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333152 ms (missed cycles : 4). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333152 ms (missed cycles : 4).[0m ×2 + 57.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973903 ms (missed cycles : 2). + 57.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973903 ms (missed cycles : 2).[0m ×2 + 58.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304086 ms (missed cycles : 2). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304086 ms (missed cycles : 2).[0m ×2 + 59.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019492 ms (missed cycles : 4). + 59.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.019492 ms (missed cycles : 4).[0m ×2 + 60.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401159 ms (missed cycles : 4). + 60.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.401159 ms (missed cycles : 4).[0m ×2 + 61.48sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 61.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514685 ms (missed cycles : 3). + 61.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.514685 ms (missed cycles : 3).[0m ×2 + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333666 ms (missed cycles : 6). + 62.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333666 ms (missed cycles : 6).[0m ×2 + 63.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720328 ms (missed cycles : 6). + 63.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720328 ms (missed cycles : 6).[0m ×2 + 64.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005775 ms (missed cycles : 4). + 64.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005775 ms (missed cycles : 4).[0m ×2 + 65.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247527 ms (missed cycles : 2). + 65.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247527 ms (missed cycles : 2).[0m ×2 + 66.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034494 ms (missed cycles : 2). + 66.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034494 ms (missed cycles : 2).[0m ×2 + 68.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981841 ms (missed cycles : 3). + 68.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981841 ms (missed cycles : 3).[0m ×2 + 69.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788886 ms (missed cycles : 6). + 69.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788886 ms (missed cycles : 6).[0m ×2 + 70.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834005 ms (missed cycles : 3). + 70.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834005 ms (missed cycles : 3).[0m ×2 + 71.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5). + 71.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 72.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 72.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 73.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 73.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 74.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 74.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 74.87sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 75.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 75.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 75.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 75.75sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 76.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 76.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 77.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 77.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.6s | 183 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974560.02712393 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974560.57326198 seconds. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269182 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269182 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492650 ms (missed cycles : 4). + 7.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.492650 ms (missed cycles : 4).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398268 ms (missed cycles : 5). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398268 ms (missed cycles : 5).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215235 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215235 ms (missed cycles : 2).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798605 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798605 ms (missed cycles : 3).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085785 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.085785 ms (missed cycles : 3).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676480 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.676480 ms (missed cycles : 3).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287315 ms (missed cycles : 5). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287315 ms (missed cycles : 5).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402402 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402402 ms (missed cycles : 4).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381952 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381952 ms (missed cycles : 3).[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.010942 ms (missed cycles : 9). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.010942 ms (missed cycles : 9).[0m ×2 + 18.24sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541089 ms (missed cycles : 5). + 18.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541089 ms (missed cycles : 5).[0m ×2 + 19.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524218 ms (missed cycles : 3). + 19.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524218 ms (missed cycles : 3).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012857 ms (missed cycles : 4). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.012857 ms (missed cycles : 4).[0m ×2 + 21.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725563 ms (missed cycles : 2). + 21.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725563 ms (missed cycles : 2).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945379 ms (missed cycles : 5). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945379 ms (missed cycles : 5).[0m ×2 + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414122 ms (missed cycles : 4). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414122 ms (missed cycles : 4).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791995 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791995 ms (missed cycles : 2).[0m ×2 + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689856 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689856 ms (missed cycles : 2).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363934 ms (missed cycles : 4). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363934 ms (missed cycles : 4).[0m ×2 + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979706 ms (missed cycles : 6). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.979706 ms (missed cycles : 6).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.781926 ms (missed cycles : 6). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.781926 ms (missed cycles : 6).[0m ×2 + 29.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937984 ms (missed cycles : 6). + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.937984 ms (missed cycles : 6).[0m ×2 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201563 ms (missed cycles : 5). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.201563 ms (missed cycles : 5).[0m ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053998 ms (missed cycles : 5). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053998 ms (missed cycles : 5).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.428004 ms (missed cycles : 7). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.428004 ms (missed cycles : 7).[0m ×2 + 34.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023414 ms (missed cycles : 3). + 34.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023414 ms (missed cycles : 3).[0m ×2 + 34.24sWARNobjective_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 + 34.24sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432030 ms (missed cycles : 3).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551837 ms (missed cycles : 4). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551837 ms (missed cycles : 4).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022335 ms (missed cycles : 5). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022335 ms (missed cycles : 5).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577253 ms (missed cycles : 3). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577253 ms (missed cycles : 3).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964912 ms (missed cycles : 3). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.964912 ms (missed cycles : 3).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106325 ms (missed cycles : 2). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106325 ms (missed cycles : 2).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844428 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844428 ms (missed cycles : 2).[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431456 ms (missed cycles : 4). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.431456 ms (missed cycles : 4).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196415 ms (missed cycles : 5). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196415 ms (missed cycles : 5).[0m ×2 + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903765 ms (missed cycles : 2). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903765 ms (missed cycles : 2).[0m ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296087 ms (missed cycles : 4). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296087 ms (missed cycles : 4).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905556 ms (missed cycles : 3). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.905556 ms (missed cycles : 3).[0m ×2 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155396 ms (missed cycles : 5). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.155396 ms (missed cycles : 5).[0m ×2 + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576606 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576606 ms (missed cycles : 3).[0m ×2 + 49.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457076 ms (missed cycles : 3). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457076 ms (missed cycles : 3).[0m ×2 + 50.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125835 ms (missed cycles : 3). + 50.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125835 ms (missed cycles : 3).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303282 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303282 ms (missed cycles : 2).[0m ×2 + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520707 ms (missed cycles : 3). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.520707 ms (missed cycles : 3).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680775 ms (missed cycles : 2). + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680775 ms (missed cycles : 2).[0m ×2 + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415007 ms (missed cycles : 4). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.415007 ms (missed cycles : 4).[0m ×2 + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836999 ms (missed cycles : 3). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836999 ms (missed cycles : 3).[0m ×2 + 57.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2). + 57.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 59.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 60.05sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 60.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 60.60sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 60.89sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 60.91sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 62.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 62.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.0s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867032 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867032 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653137 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653137 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663463 ms (missed cycles : 4). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.663463 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474739 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474739 ms (missed cycles : 4).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175521 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175521 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165799 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165799 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451473 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.451473 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689840 ms (missed cycles : 6). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689840 ms (missed cycles : 6).[0m ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583774 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583774 ms (missed cycles : 2).[0m ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742434 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742434 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578358 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.578358 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597740 ms (missed cycles : 3). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597740 ms (missed cycles : 3).[0m ×2 + 19.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476216 ms (missed cycles : 4). + 19.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476216 ms (missed cycles : 4).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140165 ms (missed cycles : 5). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.140165 ms (missed cycles : 5).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904327 ms (missed cycles : 3). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.904327 ms (missed cycles : 3).[0m ×2 + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824007 ms (missed cycles : 5). + 22.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.824007 ms (missed cycles : 5).[0m ×2 + 23.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971209 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971209 ms (missed cycles : 3).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016525 ms (missed cycles : 5). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016525 ms (missed cycles : 5).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923793 ms (missed cycles : 5). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923793 ms (missed cycles : 5).[0m ×2 + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056462 ms (missed cycles : 2). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056462 ms (missed cycles : 2).[0m ×2 + 28.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421237 ms (missed cycles : 4). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421237 ms (missed cycles : 4).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326492 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326492 ms (missed cycles : 2).[0m ×2 + 29.20sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274986 ms (missed cycles : 4). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.274986 ms (missed cycles : 4).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105393 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105393 ms (missed cycles : 2).[0m ×2 + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944922 ms (missed cycles : 5). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.944922 ms (missed cycles : 5).[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 + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108822 ms (missed cycles : 5). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.108822 ms (missed cycles : 5).[0m ×2 + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048633 ms (missed cycles : 2). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048633 ms (missed cycles : 2).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738398 ms (missed cycles : 5). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738398 ms (missed cycles : 5).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396402 ms (missed cycles : 4). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396402 ms (missed cycles : 4).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695448 ms (missed cycles : 3). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695448 ms (missed cycles : 3).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209895 ms (missed cycles : 4). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.209895 ms (missed cycles : 4).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167667 ms (missed cycles : 5). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.167667 ms (missed cycles : 5).[0m ×2 + 40.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892317 ms (missed cycles : 5). + 40.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.892317 ms (missed cycles : 5).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836921 ms (missed cycles : 2). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836921 ms (missed cycles : 2).[0m ×2 + 42.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543998 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.543998 ms (missed cycles : 2).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124471 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124471 ms (missed cycles : 3).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069698 ms (missed cycles : 4). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069698 ms (missed cycles : 4).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.330092 ms (missed cycles : 7). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.330092 ms (missed cycles : 7).[0m ×2 + 46.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778464 ms (missed cycles : 2). + 46.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778464 ms (missed cycles : 2).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072929 ms (missed cycles : 4). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072929 ms (missed cycles : 4).[0m ×2 + 48.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930716 ms (missed cycles : 2). + 48.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930716 ms (missed cycles : 2).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703478 ms (missed cycles : 3). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703478 ms (missed cycles : 3).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016247 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016247 ms (missed cycles : 2).[0m ×2 + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815468 ms (missed cycles : 3). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815468 ms (missed cycles : 3).[0m ×2 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048418 ms (missed cycles : 2). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048418 ms (missed cycles : 2).[0m ×2 + 54.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010664 ms (missed cycles : 2). + 54.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010664 ms (missed cycles : 2).[0m ×2 + 55.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779776 ms (missed cycles : 2). + 55.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779776 ms (missed cycles : 2).[0m ×2 + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403541 ms (missed cycles : 4). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403541 ms (missed cycles : 4).[0m ×2 + 57.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323160 ms (missed cycles : 2). + 57.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323160 ms (missed cycles : 2).[0m ×2 + 58.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913952 ms (missed cycles : 5). + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913952 ms (missed cycles : 5).[0m ×2 + 58.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781974844.34346795 seconds ×3 + 59.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781974844.89163780 seconds. ×3 + 59.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557616 ms (missed cycles : 4). + 59.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557616 ms (missed cycles : 4).[0m ×2 + 59.56sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 59.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429494 ms (missed cycles : 2). + 60.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429494 ms (missed cycles : 2).[0m ×2 + 61.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195213 ms (missed cycles : 2). + 61.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195213 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.3s | 177 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.78sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974652.57805800 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974653.11982584 seconds. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.61sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.61sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.61sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213188 ms (missed cycles : 4). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213188 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252400 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252400 ms (missed cycles : 4).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924377 ms (missed cycles : 5). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.924377 ms (missed cycles : 5).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457160 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457160 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681922 ms (missed cycles : 2). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681922 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492253 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492253 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117491 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117491 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715589 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715589 ms (missed cycles : 2).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601616 ms (missed cycles : 3). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601616 ms (missed cycles : 3).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454507 ms (missed cycles : 4). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454507 ms (missed cycles : 4).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922258 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922258 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071946 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071946 ms (missed cycles : 5).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053267 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.053267 ms (missed cycles : 2).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143418 ms (missed cycles : 4). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143418 ms (missed cycles : 4).[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560774 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560774 ms (missed cycles : 2).[0m ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430449 ms (missed cycles : 2). + 22.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430449 ms (missed cycles : 2).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488107 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488107 ms (missed cycles : 2).[0m ×2 + 24.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949015 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949015 ms (missed cycles : 2).[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921915 ms (missed cycles : 2). + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921915 ms (missed cycles : 2).[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425298 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425298 ms (missed cycles : 2).[0m ×2 + 27.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941312 ms (missed cycles : 2). + 27.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941312 ms (missed cycles : 2).[0m ×2 + 28.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865227 ms (missed cycles : 3). + 28.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865227 ms (missed cycles : 3).[0m ×2 + 29.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316722 ms (missed cycles : 4). + 29.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316722 ms (missed cycles : 4).[0m ×2 + 30.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274104 ms (missed cycles : 4). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274104 ms (missed cycles : 4).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033293 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033293 ms (missed cycles : 2).[0m ×2 + 32.27sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832708 ms (missed cycles : 3). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832708 ms (missed cycles : 3).[0m ×2 + 32.92sWARNobjective_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 + 32.92sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 33.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912239 ms (missed cycles : 5). + 33.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.912239 ms (missed cycles : 5).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508505 ms (missed cycles : 2). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508505 ms (missed cycles : 2).[0m ×2 + 35.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405003 ms (missed cycles : 4). + 35.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405003 ms (missed cycles : 4).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668899 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668899 ms (missed cycles : 2).[0m ×2 + 37.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412225 ms (missed cycles : 7). + 37.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412225 ms (missed cycles : 7).[0m ×2 + 38.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909936 ms (missed cycles : 5). + 38.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909936 ms (missed cycles : 5).[0m ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334466 ms (missed cycles : 2). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334466 ms (missed cycles : 2).[0m ×2 + 41.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494429 ms (missed cycles : 3). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494429 ms (missed cycles : 3).[0m ×2 + 42.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393555 ms (missed cycles : 5). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393555 ms (missed cycles : 5).[0m ×2 + 43.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838036 ms (missed cycles : 3). + 43.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838036 ms (missed cycles : 3).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944547 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944547 ms (missed cycles : 2).[0m ×2 + 45.06sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.797061 ms (missed cycles : 6). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.797061 ms (missed cycles : 6).[0m ×2 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229837 ms (missed cycles : 2). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229837 ms (missed cycles : 2).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678655 ms (missed cycles : 2). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.678655 ms (missed cycles : 2).[0m ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575508 ms (missed cycles : 3). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575508 ms (missed cycles : 3).[0m ×2 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435122 ms (missed cycles : 4). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435122 ms (missed cycles : 4).[0m ×2 + 50.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577219 ms (missed cycles : 2). + 50.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577219 ms (missed cycles : 2).[0m ×2 + 51.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127610 ms (missed cycles : 4). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127610 ms (missed cycles : 4).[0m ×2 + 52.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567221 ms (missed cycles : 2). + 52.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567221 ms (missed cycles : 2).[0m ×2 + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560994 ms (missed cycles : 4). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560994 ms (missed cycles : 4).[0m ×2 + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948074 ms (missed cycles : 2). + 54.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948074 ms (missed cycles : 2).[0m ×2 + 56.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633513 ms (missed cycles : 2). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633513 ms (missed cycles : 2).[0m ×2 + 57.09sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781974706.84001803 seconds ×3 + 57.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677006 ms (missed cycles : 2). + 57.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677006 ms (missed cycles : 2).[0m ×2 + 57.64sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781974707.38753581 seconds. ×3 + 57.94sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 58.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164731 ms (missed cycles : 5). + 58.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164731 ms (missed cycles : 5).[0m ×2 + 58.87sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734022 ms (missed cycles : 2). + 59.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734022 ms (missed cycles : 2).[0m ×2 + 60.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722286 ms (missed cycles : 5). + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722286 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 150 warnings · 221 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.08sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.12sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.12sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOforce_torque_sensor_broadcasterconfigure successful + 0.15sINFOros2_control_nodeconfigure successful[0m ×4 + 0.15sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.16sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.16sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.45sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.45sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.45sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.46sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.46sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOros2-9process has finished cleanly [pid 9220] ×2 + 0.51sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.51sINFOros2Loaded vacuum_gripper ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.51sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.51sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.51sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.53sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.53sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.53sINFOros2Configured and activated vacuum_gripper ×2 + 0.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.86sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.86sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.86sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.87sINFOros2-13process has finished cleanly [pid 9224] ×2 + 0.92sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.92sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.92sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.93sINFOplatform_velocity_controller_nav2configure successful + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.33sINFOros2-14process has finished cleanly [pid 9225] ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.70sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 3.53sINFOobjective_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 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.56sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.12sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.19sWARNobjective_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 + 5.19sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276127 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276127 ms (missed cycles : 5).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821254 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821254 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940384 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.940384 ms (missed cycles : 5).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066260 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066260 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778268 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778268 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867068 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867068 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654283 ms (missed cycles : 3). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654283 ms (missed cycles : 3).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380487 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380487 ms (missed cycles : 3).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268989 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268989 ms (missed cycles : 4).[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338422 ms (missed cycles : 3). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.338422 ms (missed cycles : 3).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421444 ms (missed cycles : 4). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421444 ms (missed cycles : 4).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716328 ms (missed cycles : 3). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716328 ms (missed cycles : 3).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620511 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.620511 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381844 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381844 ms (missed cycles : 3).[0m ×2 + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861178 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861178 ms (missed cycles : 3).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502480 ms (missed cycles : 4). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502480 ms (missed cycles : 4).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324285 ms (missed cycles : 4). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.324285 ms (missed cycles : 4).[0m ×2 + 24.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581904 ms (missed cycles : 3). + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581904 ms (missed cycles : 3).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387292 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387292 ms (missed cycles : 3).[0m ×2 + 26.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584178 ms (missed cycles : 4). + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584178 ms (missed cycles : 4).[0m ×2 + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269358 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269358 ms (missed cycles : 2).[0m ×2 + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138442 ms (missed cycles : 3). + 28.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138442 ms (missed cycles : 3).[0m ×2 + 29.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346425 ms (missed cycles : 4). + 29.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.346425 ms (missed cycles : 4).[0m ×2 + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826259 ms (missed cycles : 3). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826259 ms (missed cycles : 3).[0m ×2 + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773785 ms (missed cycles : 3). + 32.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773785 ms (missed cycles : 3).[0m ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543627 ms (missed cycles : 3). + 33.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.543627 ms (missed cycles : 3).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088574 ms (missed cycles : 4). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088574 ms (missed cycles : 4).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507260 ms (missed cycles : 3). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507260 ms (missed cycles : 3).[0m ×2 + 36.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676843 ms (missed cycles : 5). + 36.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676843 ms (missed cycles : 5).[0m ×2 + 37.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552193 ms (missed cycles : 4). + 37.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552193 ms (missed cycles : 4).[0m ×2 + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024353 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024353 ms (missed cycles : 2).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789237 ms (missed cycles : 3). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789237 ms (missed cycles : 3).[0m ×2 + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817948 ms (missed cycles : 3). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817948 ms (missed cycles : 3).[0m ×2 + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232282 ms (missed cycles : 2). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232282 ms (missed cycles : 2).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379365 ms (missed cycles : 3). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379365 ms (missed cycles : 3).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182518 ms (missed cycles : 5). + 43.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182518 ms (missed cycles : 5).[0m ×2 + 44.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4).[0m ×2 + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2). + 46.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2).[0m ×2 + 47.29sINFOjoint_trajectory_controllerGoal reached, success! + 47.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 47.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 47.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 47.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 48.64sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 48.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 49.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 49.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[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 2.424331 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981809 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981809 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966180 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966180 ms (missed cycles : 3).[0m ×2 + 2.04sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.04sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.07sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781974621.13224864 seconds ×3 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677687 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677687 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781974622.67628026 seconds. ×3 + 3.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877151 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877151 ms (missed cycles : 4).[0m ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891928 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891928 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773374 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773374 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176319 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.176319 ms (missed cycles : 4).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871139 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871139 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808301 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808301 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367461 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367461 ms (missed cycles : 4).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999852 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999852 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882623 ms (missed cycles : 3). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882623 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483509 ms (missed cycles : 2). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483509 ms (missed cycles : 2).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271719 ms (missed cycles : 5). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.271719 ms (missed cycles : 5).[0m ×2 + 15.74sINFOros2_control_nodeMuJoCo sim: 0.13% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447136 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447136 ms (missed cycles : 4).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835558 ms (missed cycles : 2). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835558 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570396 ms (missed cycles : 4). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570396 ms (missed cycles : 4).[0m ×2 + 19.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680650 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680650 ms (missed cycles : 3).[0m ×2 + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309241 ms (missed cycles : 4). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309241 ms (missed cycles : 4).[0m ×2 + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587479 ms (missed cycles : 2). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.587479 ms (missed cycles : 2).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862731 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862731 ms (missed cycles : 3).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784266 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784266 ms (missed cycles : 2).[0m ×2 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219002 ms (missed cycles : 2). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219002 ms (missed cycles : 2).[0m ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699486 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699486 ms (missed cycles : 2).[0m ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207324 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207324 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521134 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521134 ms (missed cycles : 2).[0m ×2 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814504 ms (missed cycles : 2). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814504 ms (missed cycles : 2).[0m ×2 + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727315 ms (missed cycles : 2). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727315 ms (missed cycles : 2).[0m ×2 + 30.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2). + 30.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2).[0m ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3).[0m ×2 + 33.51sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974652.57805800 seconds ×3 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2).[0m ×2 + 34.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974653.11982584 seconds. ×3 + 34.34sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2).[0m ×2 + 35.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.3s | 55 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779776 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779776 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403541 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403541 ms (missed cycles : 4).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323160 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323160 ms (missed cycles : 2).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913952 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913952 ms (missed cycles : 5).[0m ×2 + 3.56sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.56sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781974844.34346795 seconds ×3 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781974844.89163780 seconds. ×3 + 4.16sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557616 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557616 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429494 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429494 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195213 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195213 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478020 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478020 ms (missed cycles : 4).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526350 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526350 ms (missed cycles : 3).[0m ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×4 + 8.63sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 9.06sINFOobjective_server_nodeFound path in 98 iterations (0.0373587 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567658 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567658 ms (missed cycles : 3).[0m ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.90sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274138 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274138 ms (missed cycles : 3).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246754 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246754 ms (missed cycles : 4).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651515 ms (missed cycles : 4). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651515 ms (missed cycles : 4).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2).[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781974856.68295050 seconds ×3 + 16.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781974857.25098944 seconds. ×3 + 16.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.50sINFOmove_groupClearing octomap...[0m ×2 + 16.50sINFOmove_groupOctomap cleared.[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4).[0m ×2 + 16.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781974857.63187051 seconds ×3 + 17.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781974858.17160392 seconds. ×3 + 17.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781974858.53175592 seconds ×3 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4).[0m ×2 + 18.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 76 errors · 33 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2).[0m ×2 + 2.31sINFOjoint_trajectory_controllerGoal reached, success! + 2.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.34sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781974856.68295050 seconds ×3 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781974857.25098944 seconds. ×3 + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.91sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.91sINFOmove_groupClearing octomap...[0m ×2 + 2.91sINFOmove_groupOctomap cleared.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781974857.63187051 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781974858.17160392 seconds. ×3 + 4.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781974858.53175592 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4).[0m ×2 + 4.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253927 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253927 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056847 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056847 ms (missed cycles : 4).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637676 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637676 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169391 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.169391 ms (missed cycles : 5).[0m ×2 + 10.65sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242303 ms (missed cycles : 3). + 10.69sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.71sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.73sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.74sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.76sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.77sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.79sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.80sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.82sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.84sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.86sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.88sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.90sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.90sINFOcontroller_managerShutdown request received.... + 10.90sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.90sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.90sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.90sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.90sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.90sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.90sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.90sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.90sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.90sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.90sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.90sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.90sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.90sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.90sINFOcontroller_managerShutting down the controller manager. + 10.92sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.93sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.95sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.95sERRORmove_group-20process has died [pid 9231, 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_vvmk_faj --params-file /tmp/launch_params_hq9ekr1t --params-file /tmp/launch_params_3paxuoyj --params-file /tmp/launch_params_wpeml147 --params-file /tmp/launch_params_as1qbono --params-file /tmp/launch_params_ff68356b --params-file /tmp/launch_params_1omwuyev --params-file /tmp/launch_params_4d0ztiv2 --params-file /tmp/launch_params_hia9zfv3']. ×2 + 10.95sINFOweb_video_server-31process has finished cleanly [pid 9301] ×2 + 10.96sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242303 ms (missed cycles : 3).[0m ×2 + 10.96sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.99sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.01sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.01sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.01sINFOcontroller_serverCleaning up + 11.01sINFOlocal_costmap.local_costmapCleaning up + 11.01sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.01sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.01sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.01sINFOui_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 + 11.01sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.01sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.01sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.01sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.01sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.01sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.01sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.01sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.01sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.01sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.01sERRORmove_groupStack trace (most recent call last) in thread 9771: ×2 + 11.01sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.02sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2e332da63, in __clone ×2 + 11.02sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2e32a0aa3, in ×2 + 11.02sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2e3532db3, in ×2 + 11.02sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7ff2e3b871c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.02sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2e38a54d0, in rclcpp::Rate::sleep() ×2 + 11.02sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2e37f8a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.02sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff2e37bda71, in ×2 + 11.02sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2e3501390, in __cxa_throw ×2 + 11.02sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2e34eba54, in std::terminate() ×2 + 11.02sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2e35010d9, in ×2 + 11.02sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7ff2e34ebff4, in ×2 + 11.02sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2e322c8fe, in abort ×2 + 11.02sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2e324927d, in raise ×2 + 11.02sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff2e32a2b2c, in pthread_kill ×2 + 11.02sERRORmove_groupAborted (Signal sent by tkill() 9231 0) ×2 + 11.02sINFOobjective_server_node[2026-06-20 17:01:05.242] [moveit_pro_license] [info] ×2 + 11.02sINFOobjective_server_node************************************************* ×4 + 11.02sINFOobjective_server_node* MoveIt Pro License ×2 + 11.02sINFOobjective_server_node* Application has successfully terminated ×2 + 11.02sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.02sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.02sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.02sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.02sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.02sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.02sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.02sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.02sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.02sERRORobjective_server_node_main-25process has died [pid 9295, 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_saz0qxg3 --params-file /tmp/launch_params_zqgu27qa --params-file /tmp/launch_params_kaii6pwb --params-file /tmp/launch_params_kvv50y3h --params-file /tmp/launch_params_sksdo8me --params-file /tmp/launch_params_nxaketvv --params-file /tmp/launch_params_o_9p6q5r --params-file /tmp/launch_params_3ntwlbru --params-file /tmp/launch_params_w2_0ukjj']. ×2 + 11.02sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.02sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5654207d26a4, in _start ×2 + 11.02sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2ad87f528a, in __libc_start_main ×2 + 11.02sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2ad87f51d0, in ×2 + 11.02sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2ad8812bbd, in exit ×2 + 11.02sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2ad8812a75, in ×2 + 11.02sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f2ad8ce44a2, in spdlog::details::registry::~registry() ×2 + 11.02sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f2ad8cef69d, 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 + 11.02sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f2ad8ce9965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.02sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5654207d9315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.02sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5654207d85a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.02sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5654207d4b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.02sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5654207d2d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.03sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad9382454, in rclcpp::Node::~Node() ×2 + 11.03sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad933d515, in ×2 + 11.03sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad9380d20, in ×2 + 11.03sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad9380c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.03sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad933d5d9, in ×2 + 11.03sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2ad9342161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.03sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f2a83aef140]) ×2 + 11.03sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.03sINFOodom_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 + 11.03sINFOodom_qos_relay.pymain() ×2 + 11.03sINFOodom_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 + 11.03sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.03sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.03sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.03sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.03sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.03sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.03sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.03sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.03sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.03sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.03sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.03sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.03sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.05sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.05sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.05sINFOmap_serverDeactivating + 11.05sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.06sINFOmap_serverCleaning up + 11.06sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.06sINFOsmoother_serverCleaning up + 11.07sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.07sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.07sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.09sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.09sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.09sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.09sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.09sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.09sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.09sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.09sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.09sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.09sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.09sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.12sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.12sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.12sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.54sERRORcomponent_container_isolated-1process has died [pid 9135, 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_l5oelkj6 --params-file /tmp/launch_params_nj45_di6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.77sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9300] ×2 + 11.77sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.85sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9292] ×2 + 11.85sINFOexecute_objective_bridge-27process has finished cleanly [pid 9297] ×2 + 11.86sERRORui_teleop_bridge-28process has died [pid 9298, 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_br7v0e0e']. ×2 + 11.87sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9234] ×2 + 11.92sINFOparameter_manager_node-21process has finished cleanly [pid 9232] ×2 + 11.94sINFOwaypoint_manager_node-22process has finished cleanly [pid 9233] ×2 + 11.95sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9141] ×2 + 11.97sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9140] ×2 + 12.00sINFOstatic_transform_publisher-4process has finished cleanly [pid 9138] ×2 + 12.01sINFOstatic_transform_publisher-3process has finished cleanly [pid 9137] ×2 + 12.03sINFOstatic_transform_publisher-2process has finished cleanly [pid 9136] ×2 + 12.04sERRORodom_qos_relay.py-5process has died [pid 9139, 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 + 13.01sINFOcomponent_container_mt-26process has finished cleanly [pid 9296] ×2 + 13.17sINFOweb_bridge-29process has finished cleanly [pid 9299] ×2 + 13.17sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.66sINFOros2_control_node-8process has finished cleanly [pid 9142] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560994 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560994 ms (missed cycles : 4).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948074 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948074 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633513 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633513 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781974706.84001803 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677006 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677006 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781974707.38753581 seconds. ×3 + 3.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164731 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.164731 ms (missed cycles : 5).[0m ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734022 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734022 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722286 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.722286 ms (missed cycles : 5).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437581 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437581 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185084 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185084 ms (missed cycles : 4).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332844 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332844 ms (missed cycles : 4).[0m ×2 + 10.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632726 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632726 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713619 ms (missed cycles : 6). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.713619 ms (missed cycles : 6).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092501 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092501 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.359603 ms (missed cycles : 7). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.359603 ms (missed cycles : 7).[0m ×2 + 14.23sINFOjoint_trajectory_controllerGot request to cancel goal + 14.23sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781974717.81709981 seconds ×3 + 14.80sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781974718.35126734 seconds. ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734326 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734326 ms (missed cycles : 3).[0m ×2 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334949 ms (missed cycles : 4). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334949 ms (missed cycles : 4).[0m ×2 + 16.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775758 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.775758 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.81sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981809 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981809 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966180 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966180 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781974621.13224864 seconds ×3 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677687 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677687 ms (missed cycles : 2).[0m ×2 + 9.01sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781974622.67628026 seconds. ×3 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877151 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877151 ms (missed cycles : 4).[0m ×2 + 10.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891928 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891928 ms (missed cycles : 3).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773374 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.773374 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 27 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974560.02712393 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974560.57326198 seconds. ×3 + 7.00sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3).[0m ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 0.9s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651515 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651515 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781974856.68295050 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781974857.25098944 seconds. ×3 + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.92sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781974857.63187051 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781974858.17160392 seconds. ×3 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781974858.53175592 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4).[0m ×2 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[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 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821943 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.412786 ms (missed cycles : 4).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730146 ms (missed cycles : 2).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOjoint_trajectory_controllerReceived new action goal + 4.05sINFOjoint_trajectory_controllerAccepted new action goal + 4.05sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.05sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974556.59106445 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262758 ms (missed cycles : 4).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974557.12413025 seconds. ×3 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (2.7772e-05 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788379 ms (missed cycles : 3).[0m ×2 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.381708 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974560.02712393 seconds ×3 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590673 ms (missed cycles : 2).[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974560.57326198 seconds. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486466 ms (missed cycles : 3).[0m ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824756 ms (missed cycles : 3).[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 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[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 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[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 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673557 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.740276 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112183 ms (missed cycles : 2).[0m ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! + 2.89sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.94sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974616.60337925 seconds ×3 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743879 ms (missed cycles : 5).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974617.15205121 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.81sINFOjoint_trajectory_controllerReceived new action goal + 3.81sINFOjoint_trajectory_controllerAccepted new action goal + 3.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185874 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424331 ms (missed cycles : 2).[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 2.844667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974652.57805800 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974653.11982584 seconds. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 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 2.844667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974652.57805800 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974653.11982584 seconds. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 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 2.844667 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844667 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251006 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821276 ms (missed cycles : 3).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974652.57805800 seconds ×3 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012967 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974653.11982584 seconds. ×3 + 3.39sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.156196 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.61sINFOjoint_trajectory_controllerReceived new action goal + 4.61sINFOjoint_trajectory_controllerAccepted new action goal + 4.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.61sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916385 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 6.846351 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846351 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399922 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730907 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222328 ms (missed cycles : 2).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781974789.31141829 seconds ×3 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166357 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781974789.86331844 seconds. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814841 ms (missed cycles : 3).[0m ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.72sINFOjoint_trajectory_controllerReceived new action goal + 5.72sINFOjoint_trajectory_controllerAccepted new action goal + 5.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.115100 ms (missed cycles : 7).[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 5.651515 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651515 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.183880 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433901 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809048 ms (missed cycles : 2).[0m ×2 + 3.32sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.35sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781974856.68295050 seconds ×3 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781974857.25098944 seconds. ×3 + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.92sINFOmove_groupClearing octomap...[0m ×2 + 3.92sINFOmove_groupOctomap cleared.[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240083 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781974857.63187051 seconds ×3 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781974858.17160392 seconds. ×3 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781974858.53175592 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405405 ms (missed cycles : 4).[0m ×2 + 5.43sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604943 ms (missed cycles : 4). | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.8s | 15 errors · 296 warnings · 4744 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/2026-06-20-16-54-51-223371-840a80d749ce-9086 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.59sINFOstatic_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' + 8.59sINFOstatic_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' + 8.59sINFOstatic_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' + 8.70sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.73sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.74sINFOcontroller_managerupdate rate is 600 Hz + 8.74sINFOcontroller_managerOverruns handling is : enabled + 8.74sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.74sWARNcontroller_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. + 8.78sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103585 ms (missed cycles : 5). + 8.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.85sINFOros2_control_node-8process started with pid [9142] ×2 + 8.85sINFOmove_group-20process started with pid [9231] ×2 + 8.85sINFOparameter_manager_node-21process started with pid [9232] ×2 + 8.85sINFOwaypoint_manager_node-22process started with pid [9233] ×2 + 8.85sINFOmove_joint_resampler_node-23process started with pid [9234] ×2 + 8.85sINFOmove_end_effector_resampler_node-24process started with pid [9292] ×2 + 8.85sINFOobjective_server_node_main-25process started with pid [9295] ×2 + 8.85sINFOcomponent_container_mt-26process started with pid [9296] ×2 + 8.85sINFOexecute_objective_bridge-27process started with pid [9297] ×2 + 8.85sINFOui_teleop_bridge-28process started with pid [9298] ×2 + 8.85sINFOweb_bridge-29process started with pid [9299] ×2 + 8.85sINFOtf2_web_republisher_node-30process started with pid [9300] ×2 + 8.85sINFOweb_video_server-31process started with pid [9301] ×2 + 8.85sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.86sINFOcontroller_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. + 8.86sINFOcomponent_container_isolated-1process started with pid [9135] ×2 + 8.86sINFOstatic_transform_publisher-2process started with pid [9136] ×2 + 8.86sINFOstatic_transform_publisher-3process started with pid [9137] ×2 + 8.86sINFOstatic_transform_publisher-4process started with pid [9138] ×2 + 8.87sINFOodom_qos_relay.py-5process started with pid [9139] ×2 + 8.87sINFOscan_to_scan_filter_chain-6process started with pid [9140] ×2 + 8.87sINFOscan_to_scan_filter_chain-7process started with pid [9141] ×2 + 8.87sINFOros2-9process started with pid [9220] ×2 + 8.87sINFOros2-10process started with pid [9221] ×2 + 8.87sINFOros2-11process started with pid [9222] ×2 + 8.87sINFOros2-12process started with pid [9223] ×2 + 8.87sINFOros2-13process started with pid [9224] ×2 + 8.87sINFOros2-14process started with pid [9225] ×2 + 8.87sINFOros2-15process started with pid [9226] ×2 + 8.87sINFOros2-16process started with pid [9227] ×2 + 8.87sINFOros2-17process started with pid [9228] ×2 + 8.87sINFOros2-18process started with pid [9229] ×2 + 8.87sINFOros2-19process started with pid [9230] ×2 + 8.89sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 8.89sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.89sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.89sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.89sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.89sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.89sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 8.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.89sWARNros2_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 + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103585 ms (missed cycles : 5).[0m ×2 + 8.93sINFOcontroller_serverCreating controller server + 8.96sINFOlocal_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. + 8.98sINFOlocal_costmap.local_costmapCreating Costmap + 9.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 9.00sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 9.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 9.01sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 9.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 9.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.05sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.05sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.05sINFOmap_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. + 9.05sINFOmap_serverCreating + 9.05sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 9.06sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.06sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 9.08sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.08sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.08sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.08sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.09sINFOsmoother_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. + 9.11sINFOsmoother_serverCreating smoother server + 9.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.14sINFOlifecycle_manager_localizationCreating + 9.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.16sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.17sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.17sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.17sINFOmap_serverConfiguring + 9.17sINFOrobot_state_publisherRobot initialized + 9.18sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.19sINFOcontroller_managerReceived robot description from topic. + 9.19sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.19sINFOplanner_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. + 9.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×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 + 9.21sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.21sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.22sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.22sINFOplanner_serverCreating + 9.22sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.24sINFOmap_serverActivating + 9.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.25sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.27sINFOglobal_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. + 9.28sINFOglobal_costmap.global_costmapCreating Costmap + 9.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.32sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.37sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.37sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.37sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.37sINFObehavior_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. + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.42sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.42sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.47sINFObt_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. + 9.49sINFObt_navigatorCreating + 9.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.49sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.49sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 9.49sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.51sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.264766 seconds + 9.51sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.51sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.54sINFOwaypoint_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. + 9.56sINFOwaypoint_followerCreating + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.56sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.56sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.57sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 9.57sINFOmove_groupLoaded robot model in 0.264766 seconds[0m ×2 + 9.57sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.57sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.58sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.58sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.60sWARNlaser_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. + 9.60sWARNlaser_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. + 9.60sWARNscan_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 + 9.62sINFOvelocity_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. + 9.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.65sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.65sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 9.65sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.68sINFOlifecycle_manager_navigationCreating + 9.69sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.70sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 9.71sINFOwaypoint_manager_nodeLoaded robot model in 0.209329 seconds[0m ×2 + 9.71sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 9.71sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.72sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.72sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.72sINFOcontroller_serverConfiguring controller interface + 9.72sINFOcontroller_servergetting progress checker plugins.. + 9.72sINFOcontroller_servergetting goal checker plugins.. + 9.72sINFOcontroller_serverController frequency set to 20.0000Hz + 9.72sINFOlocal_costmap.local_costmapConfiguring + 9.73sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.75sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.78sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.78sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.78sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.81sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468812 ms (missed cycles : 6). + 9.82sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.468812 ms (missed cycles : 6).[0m ×2 + 9.83sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.83sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.83sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.87sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.89sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.89sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.91sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.91sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.91sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.91sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.93sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.93sWARNmove_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. + 9.93sWARNmove_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. + 9.93sWARNmove_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 + 9.93sWARNmove_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. + 9.93sWARNmove_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 + 9.93sWARNmove_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. + 9.93sWARNmove_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 + 9.93sWARNmove_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. + 9.93sWARNmove_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 + 9.93sWARNmove_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. + 9.93sWARNmove_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 + 9.93sWARNmove_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 + 9.94sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.94sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.94sWARNmove_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. + 9.94sWARNmove_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. + 9.94sWARNmove_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. + 9.94sWARNmove_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. + 9.95sWARNmove_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 + 9.95sWARNmove_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 + 9.95sWARNmove_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 + 9.95sWARNmove_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 + 9.97sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.97sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.97sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.99sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.99sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.99sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.99sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 10.00sINFOcontroller_serverOptimizer reset + 10.04sINFOcontroller_serverController Server has FollowPath controllers available. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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 + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.04sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.05sWARNwaypoint_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. + 10.06sWARNwaypoint_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. + 10.06sWARNwaypoint_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. + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.06sWARNwaypoint_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 + 10.07sWARNwaypoint_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 + 10.07sWARNwaypoint_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 + 10.07sWARNwaypoint_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 + 10.08sWARNwaypoint_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 + 10.08sWARNwaypoint_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 + 10.08sWARNwaypoint_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 + 10.08sWARNwaypoint_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 + 10.08sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 10.08sINFOsmoother_serverConfiguring smoother server + 10.10sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 10.10sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 10.11sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 10.11sINFOplanner_serverConfiguring + 10.11sINFOglobal_costmap.global_costmapConfiguring + 10.11sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 10.12sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 10.12sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 10.12sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 10.12sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 10.16sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 10.16sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 10.17sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.19sFATALplanner_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 + 10.20sINFOplanner_serverCleaning up + 10.20sINFOglobal_costmap.global_costmapCleaning up + 10.20sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.26sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 10.27sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 10.43sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.43sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 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 + 10.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.49sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.49sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.50sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 10.53sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.53sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.53sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.53sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.53sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.53sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.53sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.53sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.53sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.53sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.53sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.53sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.53sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.54sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.54sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.54sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.54sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.54sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.54sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.54sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.54sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.54sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 11.10sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.10sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.10sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.10sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.10sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.10sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.10sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.10sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.10sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.10sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.10sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.10sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.10sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.10sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.10sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.10sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.10sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.10sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.10sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.10sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.10sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.10sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.10sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.12sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.12sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.12sWARNros2_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 + 11.19sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.19sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.19sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.19sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 11.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 11.22sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 11.22sINFOros2Loaded platform_velocity_controller ×2 + 11.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.22sINFOplatform_velocity_controllerconfigure successful + 11.22sINFOros2_control_nodeconfigure successful[0m ×6 + 11.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.23sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 11.23sINFOros2Configured and activated platform_velocity_controller ×2 + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.31sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.31sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.46sWARNcomponent_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 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669980 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669980 ms (missed cycles : 2).[0m ×2 + 11.52sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 11.52sINFOcontroller_managerLoading controller 'velocity_force_controller' + 11.52sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 11.52sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 11.57sINFOros2-12process has finished cleanly [pid 9223] ×2 + 11.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 11.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 11.67sINFOobjective_server_node[2026-06-20 16:55:05.341] [moveit_pro_license] [info] ×2 + 11.67sINFOobjective_server_node************************************************* ×4 + 11.67sINFOobjective_server_node* MoveIt Pro License ×2 + 11.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 11.69sINFOros2Loaded velocity_force_controller ×2 + 11.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.71sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 11.71sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 11.71sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 11.74sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 11.74sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.74sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.74sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.74sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 11.74sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.76sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 11.76sINFOobjective_server_nodeLoaded robot model in 0.0247195 seconds[0m ×2 + 11.76sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.76sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.82sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.82sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 11.82sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.83sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 11.84sINFOcomponent_container_mtLoaded robot model in 0.362196 seconds[0m ×2 + 11.84sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 11.84sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.03sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.03sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.03sWARNobjective_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. + 12.03sWARNobjective_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. + 12.03sWARNobjective_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 + 12.03sWARNobjective_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 + 12.05sINFOros2_control_node[2026-06-20 16:55:05.717] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.05sINFOros2_control_node[2026-06-20 16:55:05.721] [info] Controller state will be published at 10 Hz. ×2 + 12.05sINFOros2_control_node[2026-06-20 16:55:05.722] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.09sINFOobjective_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 + 12.09sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.11sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.11sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.12sWARNplanning_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. + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNplanning_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. + 12.13sWARNcomponent_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 + 12.13sWARNcomponent_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 + 12.13sWARNplanning_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. + 12.13sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNplanning_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. + 12.14sWARNcomponent_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 + 12.14sWARNcomponent_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 + 12.27sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.27sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.37sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.37sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.37sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.37sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 12.37sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.37sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 12.42sINFOros2-16process has finished cleanly [pid 9227] ×2 + 12.44sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 12.44sINFOros2Loaded arm_only_velocity_force_controller ×2 + 12.44sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 12.44sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713198 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713198 ms (missed cycles : 3).[0m ×2 + 12.53sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.53sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.54sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.72sINFOros2_control_node[2026-06-20 16:55:06.393] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 12.72sINFOros2_control_node[2026-06-20 16:55:06.396] [info] Controller state will be published at 10 Hz. ×2 + 12.72sINFOros2_control_node[2026-06-20 16:55:06.396] [info] VelocityForceController 'on_configure' succeeded. ×2 + 12.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.82sWARNobjective_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 + 12.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.93sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 12.93sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 12.94sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 12.94sINFOstreaming_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) + 12.94sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 12.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 12.94sINFOcomponent_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 + 13.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 13.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 13.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 13.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 13.07sINFOros2-17process has finished cleanly [pid 9228] ×2 + 13.12sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.12sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 13.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 13.17sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 13.17sINFOros2Loaded joint_velocity_controller ×2 + 13.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 13.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 13.18sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.18sINFOmove_groupMoveGroup debug mode is ON + 13.18sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.18sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.20sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.22sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.23sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.32sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.41sINFOmove_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
********************************************************
+ 13.41sINFOmove_group ×8 + 13.41sINFOmove_group******************************************************** ×4 + 13.41sINFOmove_group* MoveGroup using: ×2 + 13.41sINFOmove_group* - apply_planning_scene_service ×2 + 13.41sINFOmove_group* - clear_octomap_service ×2 + 13.41sINFOmove_group* - ExecuteTaskSolution ×2 + 13.41sINFOmove_group* - get_group_urdf ×2 + 13.41sINFOmove_group* - load_geometry_from_file ×2 + 13.41sINFOmove_group* - get_planning_scene_service ×2 + 13.41sINFOmove_group* - kinematics_service ×2 + 13.41sINFOmove_group* - save_geometry_to_file ×2 + 13.41sINFOmove_group* - GetPlanningGroups ×2 + 13.41sINFOmove_group* - SetActiveControllerService ×2 + 13.41sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.41sINFOmove_group[0m ×2 + 13.41sINFOmove_group[92mYou can start planning now![0m ×2 + 13.42sINFOros2_control_node[2026-06-20 16:55:07.095] [info] Controller state will be published at 20 Hz. ×2 + 13.42sINFOros2_control_node[2026-06-20 16:55:07.096] [info] JointVelocityController 'on_configure' succeeded. ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388035 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388035 ms (missed cycles : 3).[0m ×2 + 13.75sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 13.75sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 13.76sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 13.76sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 13.76sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 13.76sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 13.77sINFOros2-18process has finished cleanly [pid 9229] ×2 + 13.81sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 13.81sINFOros2Loaded imu_sensor_broadcaster ×2 + 13.81sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 13.81sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 13.81sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 13.81sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 13.82sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 13.82sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 13.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 14.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 14.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 14.14sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 14.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 14.14sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 14.14sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 14.18sINFOros2-10process has finished cleanly [pid 9221] ×2 + 14.20sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 14.20sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 14.20sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.20sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 14.47sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 14.47sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 14.80sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.80sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.80sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.80sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.80sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 14.80sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 14.82sINFOros2-19process has finished cleanly [pid 9230] ×2 + 14.89sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 14.89sINFOros2Loaded joint_trajectory_controller ×2 + 14.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.90sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.90sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.90sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.90sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 15.29sINFOros2-15process has finished cleanly [pid 9226] ×2 + 15.32sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.33sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 15.33sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 15.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 15.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 15.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 15.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 15.37sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 15.37sINFOros2Loaded joint_state_broadcaster ×2 + 15.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 15.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 15.37sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 15.37sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 15.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 15.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 15.37sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 15.37sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 15.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 15.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 15.39sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 15.39sINFOros2Configured and activated joint_state_broadcaster ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 15.64sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 15.64sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 15.64sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 15.64sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 15.64sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 15.64sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 15.67sINFOros2-11process has finished cleanly [pid 9222] ×2 + 15.71sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 15.71sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 15.73sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 15.73sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 15.74sINFOforce_torque_sensor_broadcasterconfigure successful + 15.74sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 15.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 15.75sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 15.75sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 16.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.05sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.05sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 16.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 16.06sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.07sINFOros2-9process has finished cleanly [pid 9220] ×2 + 16.10sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 16.10sINFOros2Loaded vacuum_gripper ×2 + 16.10sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.10sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.10sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.12sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.12sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.13sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 16.13sINFOros2Configured and activated vacuum_gripper ×2 + 16.45sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.45sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.45sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.45sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.45sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 16.46sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 16.46sINFOros2-13process has finished cleanly [pid 9224] ×2 + 16.51sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 16.51sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 16.51sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.52sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.52sINFOplatform_velocity_controller_nav2configure successful + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 16.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 16.92sINFOros2-14process has finished cleanly [pid 9225] ×2 + 17.28sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 17.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.29sINFOmove_groupClearing octomap...[0m ×2 + 17.29sINFOmove_groupOctomap cleared.[0m ×2 + 17.29sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 17.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 18.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 18.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 18.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 19.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 19.12sINFOobjective_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 + 19.12sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.12sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.12sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.12sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.16sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.16sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 19.70sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 19.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 19.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 19.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 19.72sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 19.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 19.72sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 19.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 33 warnings · 750 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.02sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.02sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.03sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.03sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.03sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.06sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.30sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.30sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.64sINFOros2-19process has finished cleanly [pid 9230] ×2 + 0.72sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.72sINFOros2Loaded joint_trajectory_controller ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.12sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.14sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.14sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.16sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.17sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.19sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.19sINFOros2Loaded joint_state_broadcaster ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.19sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.19sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.19sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.19sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.21sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.21sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.50sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.54sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.54sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.56sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.56sINFOforce_torque_sensor_broadcasterconfigure successful + 1.56sINFOros2_control_nodeconfigure successful[0m ×4 + 1.57sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.57sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.57sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.57sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.89sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.93sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.93sINFOros2Loaded vacuum_gripper ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.93sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.95sINFOros2Configured and activated vacuum_gripper ×2 + 2.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.29sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.34sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.34sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.34sINFOplatform_velocity_controller_nav2configure successful + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.74sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 6.60sWARNobjective_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 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.04sINFOjoint_trajectory_controllerReceived new action goal + 7.04sINFOjoint_trajectory_controllerAccepted new action goal + 7.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.04sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 33 warnings · 781 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 7.03sWARNobjective_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 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 7.37sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − 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/2026-06-20-16-54-51-223371-840a80d749ce-9086 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 33 warnings · 744 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.02sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.02sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.02sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.03sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.03sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.03sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.06sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.30sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.30sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.63sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.63sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.64sINFOros2-19process has finished cleanly [pid 9230] ×2 + 0.72sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.72sINFOros2Loaded joint_trajectory_controller ×2 + 0.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.72sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.72sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.72sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.72sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.72sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.12sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.14sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.14sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.16sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.17sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.19sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.19sINFOros2Loaded joint_state_broadcaster ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.19sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.19sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.19sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.19sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.19sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.19sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.19sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.20sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.20sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.21sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.21sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.50sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.54sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.54sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.56sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.56sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.56sINFOforce_torque_sensor_broadcasterconfigure successful + 1.56sINFOros2_control_nodeconfigure successful[0m ×4 + 1.57sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.57sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.57sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.57sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.89sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.93sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.93sINFOros2Loaded vacuum_gripper ×2 + 1.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.93sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.95sINFOros2Configured and activated vacuum_gripper ×2 + 2.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.28sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.28sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.28sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.28sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.28sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.29sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.34sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.34sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.34sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.34sINFOplatform_velocity_controller_nav2configure successful + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.74sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.95sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.95sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.98sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 6.60sWARNobjective_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 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.95sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 776 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.02sINFOros2-18process has finished cleanly [pid 9229] ×2 + 0.05sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.05sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.06sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.06sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.06sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.38sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.38sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.39sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.39sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.42sINFOros2-10process has finished cleanly [pid 9221] ×2 + 0.44sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.44sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.45sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.45sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.48sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.48sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.146] [info] Controller state will be published at 20 Hz. ×2 + 0.72sINFOros2_control_node[2026-06-20 16:55:08.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953138 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.07sINFOros2-19process has finished cleanly [pid 9230] ×2 + 1.14sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.14sINFOros2Loaded joint_trajectory_controller ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.14sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.14sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.14sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.14sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOros2-15process has finished cleanly [pid 9226] ×2 + 1.56sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.58sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.58sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.58sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.59sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.61sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.61sINFOros2Loaded joint_state_broadcaster ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.61sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.61sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.61sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.61sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.61sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.61sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.63sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.63sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.89sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.89sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.89sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.92sINFOros2-11process has finished cleanly [pid 9222] ×2 + 1.96sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.96sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOforce_torque_sensor_broadcasterconfigure successful + 1.99sINFOros2_control_nodeconfigure successful[0m ×4 + 1.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.29sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.29sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.29sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.29sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.30sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.31sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.31sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.32sINFOros2-9process has finished cleanly [pid 9220] ×2 + 2.35sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.35sINFOros2Loaded vacuum_gripper ×2 + 2.35sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.35sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.35sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.35sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.36sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.36sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.37sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.37sINFOros2Configured and activated vacuum_gripper ×2 + 2.70sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.70sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.70sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.70sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.70sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 2.70sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 2.71sINFOros2-13process has finished cleanly [pid 9224] ×2 + 2.76sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.76sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.76sINFOplatform_velocity_controller_nav2configure successful + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×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 + 3.16sINFOros2-14process has finished cleanly [pid 9225] ×2 + 3.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 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: 1781974510.96700668 seconds ×3 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 4.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 5.37sINFOobjective_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 + 5.37sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.37sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.38sINFOobjective_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: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.40sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.40sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 5.96sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 33 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276127 ms (missed cycles : 5). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276127 ms (missed cycles : 5).[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 | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 30 warnings · 263 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.00sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.40sINFOros2-15process has finished cleanly [pid 9226] ×2 + 0.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.42sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.47sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.47sINFOros2Loaded joint_state_broadcaster ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.48sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.48sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.49sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.49sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.427160 ms (missed cycles : 6).[0m ×2 + 0.75sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.75sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.75sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.75sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.75sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 0.75sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 0.78sINFOros2-11process has finished cleanly [pid 9222] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.82sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.85sINFOforce_torque_sensor_broadcasterconfigure successful + 0.85sINFOros2_control_nodeconfigure successful[0m ×4 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.85sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.15sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.15sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.15sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.16sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.16sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.17sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.17sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2-9process has finished cleanly [pid 9220] ×2 + 1.21sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.21sINFOros2Loaded vacuum_gripper ×2 + 1.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.23sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.23sINFOros2Configured and activated vacuum_gripper ×2 + 1.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.56sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.56sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp + 1.56sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_pghyfa6j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_9p2lkzna --params-file /tmp/launch_params_o8vlvspp [0m ×2 + 1.57sINFOros2-13process has finished cleanly [pid 9224] ×2 + 1.62sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.62sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.62sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.62sINFOplatform_velocity_controller_nav2configure successful + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613456 ms (missed cycles : 3).[0m ×2 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.02sINFOros2-14process has finished cleanly [pid 9225] ×2 + 2.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974510.95678091 seconds. ×3 + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.39sINFOmove_groupClearing octomap...[0m ×2 + 2.39sINFOmove_groupOctomap cleared.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974510.96700668 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681003 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974511.51056504 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974511.52070570 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974512.06095004 seconds. ×3 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974512.21156573 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222841 ms (missed cycles : 4).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974512.78009129 seconds. ×3 + 4.23sINFOobjective_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 + 4.23sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.23sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.23sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.26sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974512.84024167 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974513.37513685 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.200607 ms (missed cycles : 5).[0m ×2 + 5.89sWARNobjective_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 + 5.89sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377259 ms (missed cycles : 4).[0m ×2 + 6.23sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||