67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.8s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.2s | 3 errors · 237 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251604 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251604 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362165 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362165 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681651 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681651 ms (missed cycles : 6).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739128 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739128 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781974980.40270019 seconds ×3 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781974980.94518828 seconds. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878890 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878890 ms (missed cycles : 3).[0m ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.08sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.08sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.09sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809513 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809513 ms (missed cycles : 2).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655136 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655136 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479615 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479615 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841982 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841982 ms (missed cycles : 2).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150705 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150705 ms (missed cycles : 4).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162578 ms (missed cycles : 5). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162578 ms (missed cycles : 5).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232734 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.232734 ms (missed cycles : 4).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942985 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942985 ms (missed cycles : 2).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548939 ms (missed cycles : 3). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548939 ms (missed cycles : 3).[0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247511 ms (missed cycles : 2). + 14.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247511 ms (missed cycles : 2).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647407 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.647407 ms (missed cycles : 3).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997759 ms (missed cycles : 8). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.997759 ms (missed cycles : 8).[0m ×2 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364736 ms (missed cycles : 2). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364736 ms (missed cycles : 2).[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.983618 ms (missed cycles : 8). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.983618 ms (missed cycles : 8).[0m ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756583 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756583 ms (missed cycles : 2).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969870 ms (missed cycles : 5). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969870 ms (missed cycles : 5).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499437 ms (missed cycles : 5). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.499437 ms (missed cycles : 5).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501696 ms (missed cycles : 3). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501696 ms (missed cycles : 3).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211252 ms (missed cycles : 4). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211252 ms (missed cycles : 4).[0m ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.263327 ms (missed cycles : 7). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.263327 ms (missed cycles : 7).[0m ×2 + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876762 ms (missed cycles : 5). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876762 ms (missed cycles : 5).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780405 ms (missed cycles : 6). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780405 ms (missed cycles : 6).[0m ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877680 ms (missed cycles : 2). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877680 ms (missed cycles : 2).[0m ×2 + 29.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578997 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578997 ms (missed cycles : 3).[0m ×2 + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165239 ms (missed cycles : 2). + 30.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165239 ms (missed cycles : 2).[0m ×2 + 31.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948333 ms (missed cycles : 4). + 31.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.948333 ms (missed cycles : 4).[0m ×2 + 32.38sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.38sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656503 ms (missed cycles : 6). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.656503 ms (missed cycles : 6).[0m ×2 + 32.60sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.31sWARNobjective_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 + 33.31sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139687 ms (missed cycles : 2). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139687 ms (missed cycles : 2).[0m ×2 + 34.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755338 ms (missed cycles : 2). + 34.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755338 ms (missed cycles : 2).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706582 ms (missed cycles : 2). + 35.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706582 ms (missed cycles : 2).[0m ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909528 ms (missed cycles : 5). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.909528 ms (missed cycles : 5).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769168 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769168 ms (missed cycles : 2).[0m ×2 + 38.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079952 ms (missed cycles : 2). + 38.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079952 ms (missed cycles : 2).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846514 ms (missed cycles : 2). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846514 ms (missed cycles : 2).[0m ×2 + 39.99sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953207 ms (missed cycles : 6). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.953207 ms (missed cycles : 6).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640287 ms (missed cycles : 3). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640287 ms (missed cycles : 3).[0m ×2 + 43.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306470 ms (missed cycles : 2). + 43.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306470 ms (missed cycles : 2).[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103008 ms (missed cycles : 2). + 44.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103008 ms (missed cycles : 2).[0m ×2 + 45.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333912 ms (missed cycles : 6). + 45.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.333912 ms (missed cycles : 6).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758010 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758010 ms (missed cycles : 2).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941690 ms (missed cycles : 5). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941690 ms (missed cycles : 5).[0m ×2 + 48.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745200 ms (missed cycles : 6). + 48.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.745200 ms (missed cycles : 6).[0m ×2 + 49.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105320 ms (missed cycles : 2). + 49.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105320 ms (missed cycles : 2).[0m ×2 + 50.03sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297778 ms (missed cycles : 2). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297778 ms (missed cycles : 2).[0m ×2 + 51.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812926 ms (missed cycles : 6). + 51.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812926 ms (missed cycles : 6).[0m ×2 + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337797 ms (missed cycles : 4). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337797 ms (missed cycles : 4).[0m ×2 + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682921 ms (missed cycles : 2). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682921 ms (missed cycles : 2).[0m ×2 + 54.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139108 ms (missed cycles : 4). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139108 ms (missed cycles : 4).[0m ×2 + 55.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402978 ms (missed cycles : 2). + 55.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402978 ms (missed cycles : 2).[0m ×2 + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.408490 ms (missed cycles : 6). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.408490 ms (missed cycles : 6).[0m ×2 + 57.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842669 ms (missed cycles : 2). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842669 ms (missed cycles : 2).[0m ×2 + 58.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758686 ms (missed cycles : 2). + 58.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758686 ms (missed cycles : 2).[0m ×2 + 59.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717328 ms (missed cycles : 2). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717328 ms (missed cycles : 2).[0m ×2 + 60.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199840 ms (missed cycles : 2). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199840 ms (missed cycles : 2).[0m ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008094 ms (missed cycles : 2). + 61.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008094 ms (missed cycles : 2).[0m ×2 + 62.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681524 ms (missed cycles : 3). + 62.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681524 ms (missed cycles : 3).[0m ×2 + 63.31sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 63.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635164 ms (missed cycles : 4). + 63.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635164 ms (missed cycles : 4).[0m ×2 + 64.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531870 ms (missed cycles : 4). + 64.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.531870 ms (missed cycles : 4).[0m ×2 + 66.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646005 ms (missed cycles : 6). + 66.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.646005 ms (missed cycles : 6).[0m ×2 + 67.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771987 ms (missed cycles : 3). + 67.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771987 ms (missed cycles : 3).[0m ×2 + 68.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855862 ms (missed cycles : 2). + 68.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855862 ms (missed cycles : 2).[0m ×2 + 69.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111630 ms (missed cycles : 4). + 69.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.111630 ms (missed cycles : 4).[0m ×2 + 70.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168545 ms (missed cycles : 4). + 70.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168545 ms (missed cycles : 4).[0m ×2 + 71.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768578 ms (missed cycles : 2). + 71.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768578 ms (missed cycles : 2).[0m ×2 + 72.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590061 ms (missed cycles : 3). + 72.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.590061 ms (missed cycles : 3).[0m ×2 + 73.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 73.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 74.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 74.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 75.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 75.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 76.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 76.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7). + 76.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 76.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 77.29sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 77.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 77.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 78.46sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 78.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 78.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.3s | 189 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.21sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974822.20436001 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974822.74882221 seconds. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746585 ms (missed cycles : 6). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.746585 ms (missed cycles : 6).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352029 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352029 ms (missed cycles : 3).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554914 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554914 ms (missed cycles : 3).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006593 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.006593 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155663 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155663 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458501 ms (missed cycles : 5). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.458501 ms (missed cycles : 5).[0m ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231568 ms (missed cycles : 5). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.231568 ms (missed cycles : 5).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314103 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314103 ms (missed cycles : 2).[0m ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.620996 ms (missed cycles : 6). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.620996 ms (missed cycles : 6).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975685 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.975685 ms (missed cycles : 2).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182803 ms (missed cycles : 4). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182803 ms (missed cycles : 4).[0m ×2 + 18.62sINFOros2_control_nodeMuJoCo sim: 0.07% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862230 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862230 ms (missed cycles : 2).[0m ×2 + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567578 ms (missed cycles : 3). + 20.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567578 ms (missed cycles : 3).[0m ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911043 ms (missed cycles : 2). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911043 ms (missed cycles : 2).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920541 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920541 ms (missed cycles : 2).[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795437 ms (missed cycles : 5). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795437 ms (missed cycles : 5).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256653 ms (missed cycles : 2). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256653 ms (missed cycles : 2).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118315 ms (missed cycles : 4). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118315 ms (missed cycles : 4).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.801925 ms (missed cycles : 6). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.801925 ms (missed cycles : 6).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397463 ms (missed cycles : 2). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397463 ms (missed cycles : 2).[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968581 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968581 ms (missed cycles : 2).[0m ×2 + 29.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994723 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994723 ms (missed cycles : 2).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266730 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266730 ms (missed cycles : 2).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563531 ms (missed cycles : 4). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563531 ms (missed cycles : 4).[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943449 ms (missed cycles : 3). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943449 ms (missed cycles : 3).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284712 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284712 ms (missed cycles : 2).[0m ×2 + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337033 ms (missed cycles : 2). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337033 ms (missed cycles : 2).[0m ×2 + 35.15sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 35.15sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661365 ms (missed cycles : 3). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661365 ms (missed cycles : 3).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677761 ms (missed cycles : 2). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677761 ms (missed cycles : 2).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267914 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267914 ms (missed cycles : 4).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022159 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.022159 ms (missed cycles : 2).[0m ×2 + 40.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516893 ms (missed cycles : 3). + 40.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516893 ms (missed cycles : 3).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986832 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986832 ms (missed cycles : 2).[0m ×2 + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541290 ms (missed cycles : 6). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.541290 ms (missed cycles : 6).[0m ×2 + 43.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.566985 ms (missed cycles : 7). + 43.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.566985 ms (missed cycles : 7).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911373 ms (missed cycles : 4). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911373 ms (missed cycles : 4).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432849 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432849 ms (missed cycles : 3).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365702 ms (missed cycles : 5). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.365702 ms (missed cycles : 5).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546593 ms (missed cycles : 4). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546593 ms (missed cycles : 4).[0m ×2 + 48.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826345 ms (missed cycles : 5). + 48.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.826345 ms (missed cycles : 5).[0m ×2 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520782 ms (missed cycles : 6). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.520782 ms (missed cycles : 6).[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583962 ms (missed cycles : 3). + 50.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.583962 ms (missed cycles : 3).[0m ×2 + 51.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679281 ms (missed cycles : 3). + 51.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679281 ms (missed cycles : 3).[0m ×2 + 52.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441197 ms (missed cycles : 4). + 52.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441197 ms (missed cycles : 4).[0m ×2 + 53.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.370786 ms (missed cycles : 6). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.370786 ms (missed cycles : 6).[0m ×2 + 54.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397781 ms (missed cycles : 2). + 54.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397781 ms (missed cycles : 2).[0m ×2 + 55.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398073 ms (missed cycles : 5). + 55.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.398073 ms (missed cycles : 5).[0m ×2 + 56.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492876 ms (missed cycles : 3). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492876 ms (missed cycles : 3).[0m ×2 + 57.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 57.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 58.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 58.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 60.96sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 61.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 61.51sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 61.80sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 61.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 62.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 63.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 64.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 64.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.83sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.83sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036351 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036351 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107080 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107080 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407536 ms (missed cycles : 3). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.407536 ms (missed cycles : 3).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373265 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373265 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193950 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193950 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238744 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238744 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297762 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297762 ms (missed cycles : 4).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191868 ms (missed cycles : 4). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191868 ms (missed cycles : 4).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916868 ms (missed cycles : 5). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916868 ms (missed cycles : 5).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708466 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708466 ms (missed cycles : 3).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141127 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141127 ms (missed cycles : 3).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252476 ms (missed cycles : 4). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252476 ms (missed cycles : 4).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934745 ms (missed cycles : 5). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934745 ms (missed cycles : 5).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579131 ms (missed cycles : 5). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.579131 ms (missed cycles : 5).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355199 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355199 ms (missed cycles : 2).[0m ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375913 ms (missed cycles : 3). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375913 ms (missed cycles : 3).[0m ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014562 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014562 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026478 ms (missed cycles : 2). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.026478 ms (missed cycles : 2).[0m ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268946 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268946 ms (missed cycles : 3).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239786 ms (missed cycles : 4). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239786 ms (missed cycles : 4).[0m ×2 + 26.33sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856992 ms (missed cycles : 5). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.856992 ms (missed cycles : 5).[0m ×2 + 28.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754824 ms (missed cycles : 3). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.754824 ms (missed cycles : 3).[0m ×2 + 29.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730050 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730050 ms (missed cycles : 2).[0m ×2 + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834756 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834756 ms (missed cycles : 4).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191922 ms (missed cycles : 2). + 31.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191922 ms (missed cycles : 2).[0m ×2 + 32.14sWARNobjective_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 + 32.14sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412129 ms (missed cycles : 3). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412129 ms (missed cycles : 3).[0m ×2 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885292 ms (missed cycles : 2). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885292 ms (missed cycles : 2).[0m ×2 + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091542 ms (missed cycles : 4). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091542 ms (missed cycles : 4).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868764 ms (missed cycles : 2). + 35.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868764 ms (missed cycles : 2).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633567 ms (missed cycles : 3). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633567 ms (missed cycles : 3).[0m ×2 + 37.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453483 ms (missed cycles : 6). + 37.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.453483 ms (missed cycles : 6).[0m ×2 + 38.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908580 ms (missed cycles : 3). + 38.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908580 ms (missed cycles : 3).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968460 ms (missed cycles : 5). + 39.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.968460 ms (missed cycles : 5).[0m ×2 + 40.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781238 ms (missed cycles : 3). + 40.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781238 ms (missed cycles : 3).[0m ×2 + 41.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704965 ms (missed cycles : 6). + 41.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.704965 ms (missed cycles : 6).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317953 ms (missed cycles : 4). + 42.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317953 ms (missed cycles : 4).[0m ×2 + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181887 ms (missed cycles : 2). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181887 ms (missed cycles : 2).[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315390 ms (missed cycles : 3). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315390 ms (missed cycles : 3).[0m ×2 + 46.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741219 ms (missed cycles : 4). + 46.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741219 ms (missed cycles : 4).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592275 ms (missed cycles : 3). + 47.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592275 ms (missed cycles : 3).[0m ×2 + 48.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939565 ms (missed cycles : 5). + 48.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939565 ms (missed cycles : 5).[0m ×2 + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558430 ms (missed cycles : 2). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558430 ms (missed cycles : 2).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734155 ms (missed cycles : 2). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734155 ms (missed cycles : 2).[0m ×2 + 51.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052105 ms (missed cycles : 4). + 51.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052105 ms (missed cycles : 4).[0m ×2 + 52.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654117 ms (missed cycles : 2). + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654117 ms (missed cycles : 2).[0m ×2 + 53.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249174 ms (missed cycles : 2). + 53.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249174 ms (missed cycles : 2).[0m ×2 + 54.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040034 ms (missed cycles : 5). + 54.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040034 ms (missed cycles : 5).[0m ×2 + 55.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226153 ms (missed cycles : 2). + 55.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226153 ms (missed cycles : 2).[0m ×2 + 56.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733497 ms (missed cycles : 3). + 56.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733497 ms (missed cycles : 3).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494323 ms (missed cycles : 3). + 57.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494323 ms (missed cycles : 3).[0m ×2 + 57.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781975108.66350055 seconds ×3 + 58.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781975109.20638084 seconds. ×3 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190698 ms (missed cycles : 4). + 58.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190698 ms (missed cycles : 4).[0m ×2 + 58.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 58.71sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563161 ms (missed cycles : 3). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563161 ms (missed cycles : 3).[0m ×2 + 60.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527819 ms (missed cycles : 3). + 60.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527819 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.9s | 177 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.66sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974915.64627600 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974916.19016147 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979795 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979795 ms (missed cycles : 3).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693084 ms (missed cycles : 5). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693084 ms (missed cycles : 5).[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585019 ms (missed cycles : 3). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585019 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189733 ms (missed cycles : 4). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189733 ms (missed cycles : 4).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695695 ms (missed cycles : 3). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.695695 ms (missed cycles : 3).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168657 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168657 ms (missed cycles : 2).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813734 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813734 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139085 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139085 ms (missed cycles : 4).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.550641 ms (missed cycles : 6). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.550641 ms (missed cycles : 6).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298414 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298414 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775474 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775474 ms (missed cycles : 3).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912293 ms (missed cycles : 3). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912293 ms (missed cycles : 3).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629123 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629123 ms (missed cycles : 3).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067929 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067929 ms (missed cycles : 2).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464944 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464944 ms (missed cycles : 3).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673824 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673824 ms (missed cycles : 2).[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047988 ms (missed cycles : 2). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047988 ms (missed cycles : 2).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338902 ms (missed cycles : 4). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338902 ms (missed cycles : 4).[0m ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826215 ms (missed cycles : 2). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826215 ms (missed cycles : 2).[0m ×2 + 27.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915515 ms (missed cycles : 3). + 27.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915515 ms (missed cycles : 3).[0m ×2 + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695816 ms (missed cycles : 2). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695816 ms (missed cycles : 2).[0m ×2 + 29.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266291 ms (missed cycles : 2). + 29.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266291 ms (missed cycles : 2).[0m ×2 + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528808 ms (missed cycles : 2). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528808 ms (missed cycles : 2).[0m ×2 + 31.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893144 ms (missed cycles : 3). + 31.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893144 ms (missed cycles : 3).[0m ×2 + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797356 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797356 ms (missed cycles : 3).[0m ×2 + 33.34sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248069 ms (missed cycles : 4). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248069 ms (missed cycles : 4).[0m ×2 + 33.92sWARNobjective_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 + 33.92sINFOobjective_server_nodePlanning for 56 path waypoints. ×3 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842064 ms (missed cycles : 3). + 34.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842064 ms (missed cycles : 3).[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618802 ms (missed cycles : 3). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618802 ms (missed cycles : 3).[0m ×2 + 36.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622889 ms (missed cycles : 2). + 36.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622889 ms (missed cycles : 2).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708918 ms (missed cycles : 5). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708918 ms (missed cycles : 5).[0m ×2 + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653450 ms (missed cycles : 4). + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.653450 ms (missed cycles : 4).[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479826 ms (missed cycles : 3). + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.479826 ms (missed cycles : 3).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232256 ms (missed cycles : 4). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232256 ms (missed cycles : 4).[0m ×2 + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818922 ms (missed cycles : 2). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818922 ms (missed cycles : 2).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096725 ms (missed cycles : 4). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096725 ms (missed cycles : 4).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239541 ms (missed cycles : 2). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239541 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529870 ms (missed cycles : 3). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529870 ms (missed cycles : 3).[0m ×2 + 45.21sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586977 ms (missed cycles : 6). + 45.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586977 ms (missed cycles : 6).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799536 ms (missed cycles : 3). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799536 ms (missed cycles : 3).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990083 ms (missed cycles : 5). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.990083 ms (missed cycles : 5).[0m ×2 + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295065 ms (missed cycles : 2). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295065 ms (missed cycles : 2).[0m ×2 + 50.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581830 ms (missed cycles : 4). + 50.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581830 ms (missed cycles : 4).[0m ×2 + 51.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805425 ms (missed cycles : 2). + 51.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805425 ms (missed cycles : 2).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708215 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708215 ms (missed cycles : 3).[0m ×2 + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.115459 ms (missed cycles : 5). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.115459 ms (missed cycles : 5).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334307 ms (missed cycles : 4). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334307 ms (missed cycles : 4).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988011 ms (missed cycles : 5). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988011 ms (missed cycles : 5).[0m ×2 + 56.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.598065 ms (missed cycles : 7). + 56.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.598065 ms (missed cycles : 7).[0m ×2 + 57.61sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781974969.55031085 seconds ×3 + 57.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256476 ms (missed cycles : 2). + 57.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256476 ms (missed cycles : 2).[0m ×2 + 58.15sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781974970.08924103 seconds. ×3 + 58.45sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 59.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454068 ms (missed cycles : 3). + 59.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454068 ms (missed cycles : 3).[0m ×2 + 59.42sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029494 ms (missed cycles : 2). + 60.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029494 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 150 warnings · 663 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.01sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.01sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.01sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2-17process has finished cleanly [pid 9239] ×2 + 0.40sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.40sINFOros2Loaded vacuum_gripper ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.41sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.42sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.42sINFOros2Configured and activated vacuum_gripper ×2 + 0.76sINFOros2-13process has finished cleanly [pid 9235] ×2 + 0.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.82sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.82sINFOros2Loaded joint_velocity_controller ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.83sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 0.83sINFOros2_control_nodeat line 594 in ./src/model.cpp ×212 + 0.83sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 0.85sINFOros2_control_nodeat line 589 in ./src/model.cpp ×18 + 0.85sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.85sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.08sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.08sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.39sINFOros2-18process has finished cleanly [pid 9240] ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 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 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 2.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 3.52sINFOobjective_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 + 3.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.55sINFOros2_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 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.10sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.11sINFOobjective_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 + 4.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.16sWARNobjective_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 + 5.16sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.65sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.65sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256941 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256941 ms (missed cycles : 4).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179443 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179443 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582399 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.582399 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012811 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012811 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962038 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962038 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540309 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540309 ms (missed cycles : 3).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132355 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132355 ms (missed cycles : 4).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245589 ms (missed cycles : 4). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245589 ms (missed cycles : 4).[0m ×2 + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565642 ms (missed cycles : 4). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565642 ms (missed cycles : 4).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722544 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722544 ms (missed cycles : 3).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519212 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519212 ms (missed cycles : 3).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812116 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812116 ms (missed cycles : 3).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566016 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.566016 ms (missed cycles : 3).[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354779 ms (missed cycles : 3). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354779 ms (missed cycles : 3).[0m ×2 + 21.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962835 ms (missed cycles : 2). + 21.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962835 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864964 ms (missed cycles : 3). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864964 ms (missed cycles : 3).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624611 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.624611 ms (missed cycles : 4).[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625739 ms (missed cycles : 3). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625739 ms (missed cycles : 3).[0m ×2 + 25.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735692 ms (missed cycles : 2). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735692 ms (missed cycles : 2).[0m ×2 + 26.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599813 ms (missed cycles : 4). + 26.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599813 ms (missed cycles : 4).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610858 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610858 ms (missed cycles : 3).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886905 ms (missed cycles : 5). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.886905 ms (missed cycles : 5).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196527 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196527 ms (missed cycles : 3).[0m ×2 + 30.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792836 ms (missed cycles : 5). + 30.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.792836 ms (missed cycles : 5).[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198250 ms (missed cycles : 4). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198250 ms (missed cycles : 4).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781979 ms (missed cycles : 2). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781979 ms (missed cycles : 2).[0m ×2 + 34.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899106 ms (missed cycles : 3). + 34.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899106 ms (missed cycles : 3).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507843 ms (missed cycles : 3). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507843 ms (missed cycles : 3).[0m ×2 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124022 ms (missed cycles : 3). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124022 ms (missed cycles : 3).[0m ×2 + 37.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878488 ms (missed cycles : 2). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878488 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547393 ms (missed cycles : 3). + 38.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547393 ms (missed cycles : 3).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250979 ms (missed cycles : 4). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250979 ms (missed cycles : 4).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638276 ms (missed cycles : 2). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638276 ms (missed cycles : 2).[0m ×2 + 41.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942378 ms (missed cycles : 2). + 41.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942378 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197996 ms (missed cycles : 4). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197996 ms (missed cycles : 4).[0m ×2 + 43.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 47.02sINFOjoint_trajectory_controllerGoal reached, success! + 47.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 47.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 47.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 48.36sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 48.36sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472102 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472102 ms (missed cycles : 2).[0m ×2 + 2.43sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.43sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.46sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781974884.05738950 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109627 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109627 ms (missed cycles : 3).[0m ×2 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781974885.59615111 seconds. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071517 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071517 ms (missed cycles : 5).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552479 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552479 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.65sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.65sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939902 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939902 ms (missed cycles : 4).[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183825 ms (missed cycles : 4). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183825 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464681 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.464681 ms (missed cycles : 4).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408093 ms (missed cycles : 5). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408093 ms (missed cycles : 5).[0m ×2 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691747 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691747 ms (missed cycles : 2).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018631 ms (missed cycles : 2). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018631 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780369 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780369 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304901 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304901 ms (missed cycles : 2).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636224 ms (missed cycles : 3). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.636224 ms (missed cycles : 3).[0m ×2 + 15.55sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510042 ms (missed cycles : 3). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510042 ms (missed cycles : 3).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996399 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996399 ms (missed cycles : 2).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410985 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410985 ms (missed cycles : 3).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890561 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890561 ms (missed cycles : 3).[0m ×2 + 19.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094696 ms (missed cycles : 5). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094696 ms (missed cycles : 5).[0m ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925161 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925161 ms (missed cycles : 3).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213366 ms (missed cycles : 4). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213366 ms (missed cycles : 4).[0m ×2 + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258259 ms (missed cycles : 2). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258259 ms (missed cycles : 2).[0m ×2 + 24.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566595 ms (missed cycles : 3). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566595 ms (missed cycles : 3).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455306 ms (missed cycles : 5). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.455306 ms (missed cycles : 5).[0m ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722790 ms (missed cycles : 2). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722790 ms (missed cycles : 2).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825682 ms (missed cycles : 7). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825682 ms (missed cycles : 7).[0m ×2 + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278468 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278468 ms (missed cycles : 4).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538890 ms (missed cycles : 5). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.538890 ms (missed cycles : 5).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4).[0m ×2 + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5).[0m ×2 + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2). + 32.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2).[0m ×2 + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4).[0m ×2 + 34.05sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974915.64627600 seconds ×3 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 34.60sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974916.19016147 seconds. ×3 + 34.90sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 35.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4). + 35.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4).[0m ×2 + 36.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3). + 36.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 12.5s | 74 errors · 30 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3).[0m ×2 + 2.13sINFOjoint_trajectory_controllerGoal reached, success! + 2.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.17sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781975120.99787784 seconds ×3 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781975121.57038212 seconds. ×3 + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.74sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.74sINFOmove_groupClearing octomap...[0m ×2 + 2.74sINFOmove_groupOctomap cleared.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781975122.09052086 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781975122.62865353 seconds. ×3 + 4.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781975122.96877861 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2).[0m ×2 + 4.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979834 ms (missed cycles : 5). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979834 ms (missed cycles : 5).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999817 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999817 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173754 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173754 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551808 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551808 ms (missed cycles : 4).[0m ×2 + 9.68sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.68sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.69sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.70sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.71sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.72sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.73sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.74sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.75sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.76sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.77sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 9.78sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 9.79sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.79sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 9.81sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 9.82sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 9.83sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.84sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 9.86sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 9.88sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 9.90sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 9.92sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 9.94sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 9.94sINFOcontroller_managerShutdown request received.... + 9.94sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.94sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 9.94sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 9.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 9.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.95sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 9.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 9.95sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 9.95sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 9.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 9.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.95sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 9.95sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 9.95sINFOcontroller_managerShutting down the controller manager. + 9.96sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 9.97sINFOweb_video_server-31process has finished cleanly [pid 9315] ×2 + 9.98sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 9.98sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9314] ×2 + 9.98sERRORmove_group-20process has died [pid 9242, 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_zh8n__59 --params-file /tmp/launch_params_qzvak7x7 --params-file /tmp/launch_params_dcg4gtam --params-file /tmp/launch_params_v5svu7aj --params-file /tmp/launch_params_v_uflawt --params-file /tmp/launch_params_erov8v_x --params-file /tmp/launch_params_xyzkhnmp --params-file /tmp/launch_params_zu8xbftd --params-file /tmp/launch_params_vcalqfnz']. ×2 + 10.00sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.01sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.02sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.04sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.05sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.05sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.05sINFOcontroller_serverCleaning up + 10.05sINFOlocal_costmap.local_costmapCleaning up + 10.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.05sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.05sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.05sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.05sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.05sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.05sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.05sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.05sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.05sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.06sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.06sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.06sERRORmove_groupStack trace (most recent call last) in thread 9811: ×2 + 10.06sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.06sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe16f068a63, in __clone ×2 + 10.06sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe16efdbaa3, in ×2 + 10.06sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe16f26ddb3, in ×2 + 10.06sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fe16f8c21c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.06sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe16f5e04d0, in rclcpp::Rate::sleep() ×2 + 10.06sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe16f533a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.06sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe16f4f8a71, in ×2 + 10.06sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe16f23c390, in __cxa_throw ×2 + 10.06sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe16f226a54, in std::terminate() ×2 + 10.06sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe16f23c0d9, in ×2 + 10.06sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe16f226ff4, in ×2 + 10.06sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe16ef678fe, in abort ×2 + 10.06sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe16ef8427d, in raise ×2 + 10.06sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe16efddb2c, in pthread_kill ×2 + 10.06sERRORmove_groupAborted (Signal sent by tkill() 9242 0) ×2 + 10.06sINFOobjective_server_node[2026-06-20 17:05:28.775] [moveit_pro_license] [info] ×2 + 10.06sINFOobjective_server_node************************************************* ×4 + 10.06sINFOobjective_server_node* MoveIt Pro License ×2 + 10.06sINFOobjective_server_node* Application has successfully terminated ×2 + 10.06sERRORobjective_server_node_main-25process has died [pid 9291, 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__aeiwntq --params-file /tmp/launch_params_88zt10j_ --params-file /tmp/launch_params_rj6z0q7j --params-file /tmp/launch_params_ba9jh1w3 --params-file /tmp/launch_params_fk8p58fi --params-file /tmp/launch_params_f5t0mo8c --params-file /tmp/launch_params_vjnttggg --params-file /tmp/launch_params_u3i7vi9q --params-file /tmp/launch_params_6kwovssj']. ×2 + 10.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.06sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.07sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.07sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.07sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.07sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.07sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.07sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.07sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.07sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.07sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.07sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.07sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557eff9426a4, in _start ×2 + 10.07sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1d1c6c28a, in __libc_start_main ×2 + 10.07sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1d1c6c1d0, in ×2 + 10.07sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1d1c89bbd, in exit ×2 + 10.07sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff1d1c89a75, in ×2 + 10.07sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff1d215b4a2, in spdlog::details::registry::~registry() ×2 + 10.07sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff1d216669d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.07sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff1d2160965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.07sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557eff949315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.07sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557eff9485a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.07sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557eff944b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.07sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x557eff942d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.07sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27f9454, in rclcpp::Node::~Node() ×2 + 10.07sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27b4515, in ×2 + 10.07sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27f7d20, in ×2 + 10.07sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27f7c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.07sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27b45d9, in ×2 + 10.07sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff1d27b9161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.07sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7ff196052140]) ×2 + 10.07sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.07sINFOodom_qos_relay.pymain() ×2 + 10.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.07sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.07sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.07sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.07sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.07sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.07sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.07sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.07sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.08sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.08sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.09sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.09sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.09sINFOmap_serverDeactivating + 10.09sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.10sINFOmap_serverCleaning up + 10.10sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.11sINFOsmoother_serverCleaning up + 10.12sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.12sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.12sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.13sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.13sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.13sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.13sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.13sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.13sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.13sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.13sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.13sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.13sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.13sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.16sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.16sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 10.89sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9289] ×2 + 10.89sINFOexecute_objective_bridge-27process has finished cleanly [pid 9310] ×2 + 10.89sERRORui_teleop_bridge-28process has died [pid 9311, 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_lnwh4nkk']. ×2 + 10.91sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9263] ×2 + 10.96sINFOparameter_manager_node-21process has finished cleanly [pid 9243] ×2 + 10.99sINFOwaypoint_manager_node-22process has finished cleanly [pid 9262] ×2 + 11.00sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9152] ×2 + 11.02sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9151] ×2 + 11.05sINFOstatic_transform_publisher-4process has finished cleanly [pid 9149] ×2 + 11.06sINFOstatic_transform_publisher-3process has finished cleanly [pid 9148] ×2 + 11.06sINFOcomponent_container_mt-26process has finished cleanly [pid 9292] ×2 + 11.07sINFOstatic_transform_publisher-2process has finished cleanly [pid 9147] ×2 + 11.08sERRORodom_qos_relay.py-5process has died [pid 9150, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.21sINFOweb_bridge-29process has finished cleanly [pid 9313] ×2 + 12.21sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.70sINFOros2_control_node-8process has finished cleanly [pid 9153] ×2 + 14.68sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 14.69sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 14.70sERRORcomponent_container_isolated-1process has died [pid 9146, exit code -9, 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_qvb_qg8b --params-file /tmp/launch_params_8ch1gv3d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.3s | 57 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040034 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040034 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226153 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226153 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733497 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.733497 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494323 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494323 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.39sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1781975108.66350055 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1781975109.20638084 seconds. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190698 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190698 ms (missed cycles : 4).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 4.26sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.27sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.27sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563161 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563161 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527819 ms (missed cycles : 3). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.527819 ms (missed cycles : 3).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146217 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146217 ms (missed cycles : 2).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181719 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181719 ms (missed cycles : 4).[0m ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (7.4e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.92sINFOobjective_server_nodeFound path in 69 iterations (0.0388214 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.221697 ms (missed cycles : 7). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.221697 ms (missed cycles : 7).[0m ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.74sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937825 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937825 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.411346 ms (missed cycles : 6). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.411346 ms (missed cycles : 6).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3).[0m ×2 + 15.73sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781975120.99787784 seconds ×3 + 16.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781975121.57038212 seconds. ×3 + 16.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.30sINFOmove_groupClearing octomap...[0m ×2 + 16.30sINFOmove_groupOctomap cleared.[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4).[0m ×2 + 16.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781975122.09052086 seconds ×3 + 17.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781975122.62865353 seconds. ×3 + 17.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781975122.96877861 seconds ×3 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2).[0m ×2 + 17.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334307 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334307 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988011 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.988011 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.598065 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.598065 ms (missed cycles : 7).[0m ×2 + 2.78sINFOjoint_trajectory_controllerGoal reached, success! + 2.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1781974969.55031085 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 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256476 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256476 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1781974970.08924103 seconds. ×3 + 3.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454068 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454068 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029494 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029494 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206573 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206573 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256593 ms (missed cycles : 4). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256593 ms (missed cycles : 4).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813955 ms (missed cycles : 6). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813955 ms (missed cycles : 6).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864170 ms (missed cycles : 5). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864170 ms (missed cycles : 5).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251604 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.251604 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362165 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362165 ms (missed cycles : 3).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681651 ms (missed cycles : 6). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.681651 ms (missed cycles : 6).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739128 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739128 ms (missed cycles : 2).[0m ×2 + 13.65sINFOjoint_trajectory_controllerGot request to cancel goal + 13.65sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.68sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1781974980.40270019 seconds ×3 + 14.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1781974980.94518828 seconds. ×3 + 14.52sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878890 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878890 ms (missed cycles : 3).[0m ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809513 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809513 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655136 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655136 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.09sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.00sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.00sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472102 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472102 ms (missed cycles : 2).[0m ×2 + 7.71sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1781974884.05738950 seconds ×3 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109627 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.109627 ms (missed cycles : 3).[0m ×2 + 9.25sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1781974885.59615111 seconds. ×3 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071517 ms (missed cycles : 5). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.071517 ms (missed cycles : 5).[0m ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552479 ms (missed cycles : 2). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.552479 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939902 ms (missed cycles : 4). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939902 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.45sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 + 6.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974822.20436001 seconds ×3 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974822.74882221 seconds. ×3 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3).[0m ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781975120.99787784 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781975121.57038212 seconds. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781975122.09052086 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781975122.62865353 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781975122.96877861 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2).[0m ×2 + 5.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979834 ms (missed cycles : 5). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.979834 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 0.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.58sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.58sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.58sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.58sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1781974822.20436001 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689930 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1781974822.74882221 seconds. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588617 ms (missed cycles : 3).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190376 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal + 4.00sINFOjoint_trajectory_controllerAccepted new action goal + 4.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_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 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549603 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831095 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550771 ms (missed cycles : 5).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680762 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1781974818.76275873 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1781974819.30420589 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793495 ms (missed cycles : 2).[0m ×2 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (2.6041e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.82sINFOjoint_trajectory_controllerReceived new action goal + 4.82sINFOjoint_trajectory_controllerAccepted new action goal + 4.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541775 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444688 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal + 4.00sINFOjoint_trajectory_controllerAccepted new action goal + 4.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal + 4.00sINFOjoint_trajectory_controllerAccepted new action goal + 4.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal + 4.00sINFOjoint_trajectory_controllerAccepted new action goal + 4.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 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 | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358765 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641934 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203112 ms (missed cycles : 7).[0m ×2 + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.13sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1781974879.47896671 seconds ×3 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275270 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1781974880.02723360 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.00sINFOjoint_trajectory_controllerReceived new action goal + 4.00sINFOjoint_trajectory_controllerAccepted new action goal + 4.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309176 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120277 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974915.64627600 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974916.19016147 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_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 6.559599 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974915.64627600 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974916.19016147 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559599 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.380706 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314910 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426783 ms (missed cycles : 4).[0m ×2 + 3.66sINFOjoint_trajectory_controllerGoal reached, success! + 3.66sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1781974915.64627600 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417365 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1781974916.19016147 seconds. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.387042 ms (missed cycles : 4).[0m ×2 + 5.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634089 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_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 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_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 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.724742 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.006740 ms (missed cycles : 7).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692448 ms (missed cycles : 2).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1781975053.57534695 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_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 10.358637 ms (missed cycles : 7). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.358637 ms (missed cycles : 7).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1781975054.12337208 seconds. ×3 + 3.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697419 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.83sINFOjoint_trajectory_controllerReceived new action goal + 4.83sINFOjoint_trajectory_controllerAccepted new action goal + 4.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952729 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283950 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808108 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589433 ms (missed cycles : 3).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722210 ms (missed cycles : 3).[0m ×2 + 3.17sINFOjoint_trajectory_controllerGoal reached, success! + 3.17sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.20sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1781975120.99787784 seconds ×3 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1781975121.57038212 seconds. ×3 + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.78sINFOmove_groupClearing octomap...[0m ×2 + 3.78sINFOmove_groupOctomap cleared.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241488 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1781975122.09052086 seconds ×3 + 4.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1781975122.62865353 seconds. ×3 + 5.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1781975122.96877861 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008391 ms (missed cycles : 2).[0m ×2 + 5.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081295 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 19.8s | 13 errors · 296 warnings · 4747 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/2026-06-20-16-59-13-623456-4b66787ba1be-9097 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 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_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_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' + 8.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.67sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.67sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.67sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.68sINFOcontroller_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. + 8.69sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.69sINFOcontroller_managerupdate rate is 600 Hz + 8.69sINFOcontroller_managerOverruns handling is : enabled + 8.69sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.70sWARNcontroller_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. + 8.72sINFOcontroller_serverCreating controller server + 8.75sINFOlocal_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. + 8.75sINFOlocal_costmap.local_costmapCreating Costmap + 8.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.83sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.83sINFOmap_serverCreating + 8.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.88sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.88sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.88sINFOros2_control_node-8process started with pid [9153] ×2 + 8.89sINFOmove_group-20process started with pid [9242] ×2 + 8.89sINFOparameter_manager_node-21process started with pid [9243] ×2 + 8.89sINFOwaypoint_manager_node-22process started with pid [9262] ×2 + 8.89sINFOmove_joint_resampler_node-23process started with pid [9263] ×2 + 8.89sINFOmove_end_effector_resampler_node-24process started with pid [9289] ×2 + 8.89sINFOobjective_server_node_main-25process started with pid [9291] ×2 + 8.89sINFOcomponent_container_mt-26process started with pid [9292] ×2 + 8.89sINFOexecute_objective_bridge-27process started with pid [9310] ×2 + 8.89sINFOui_teleop_bridge-28process started with pid [9311] ×2 + 8.89sINFOweb_bridge-29process started with pid [9313] ×2 + 8.89sINFOtf2_web_republisher_node-30process started with pid [9314] ×2 + 8.89sINFOweb_video_server-31process started with pid [9315] ×2 + 8.89sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.89sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.91sINFOcomponent_container_isolated-1process started with pid [9146] ×2 + 8.91sINFOstatic_transform_publisher-2process started with pid [9147] ×2 + 8.91sINFOstatic_transform_publisher-3process started with pid [9148] ×2 + 8.91sINFOstatic_transform_publisher-4process started with pid [9149] ×2 + 8.91sINFOodom_qos_relay.py-5process started with pid [9150] ×2 + 8.91sINFOscan_to_scan_filter_chain-6process started with pid [9151] ×2 + 8.91sINFOscan_to_scan_filter_chain-7process started with pid [9152] ×2 + 8.91sINFOros2-9process started with pid [9231] ×2 + 8.91sINFOros2-10process started with pid [9232] ×2 + 8.91sINFOros2-11process started with pid [9233] ×2 + 8.91sINFOros2-12process started with pid [9234] ×2 + 8.91sINFOros2-13process started with pid [9235] ×2 + 8.91sINFOros2-14process started with pid [9236] ×2 + 8.91sINFOros2-15process started with pid [9237] ×2 + 8.91sINFOros2-16process started with pid [9238] ×2 + 8.91sINFOros2-17process started with pid [9239] ×2 + 8.91sINFOros2-18process started with pid [9240] ×2 + 8.91sINFOros2-19process started with pid [9241] ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531776 ms (missed cycles : 6). + 8.93sINFOsmoother_serverCreating smoother server + 8.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 8.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 8.97sINFOlifecycle_manager_localizationCreating + 8.98sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 8.98sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 8.98sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.98sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.98sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.98sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 9.00sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 9.00sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 9.00sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 9.00sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 9.00sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 9.00sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 9.00sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 9.00sWARNros2_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 + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531776 ms (missed cycles : 6).[0m ×2 + 9.00sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.00sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 9.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.01sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.01sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.02sINFOmap_serverConfiguring + 9.07sINFOplanner_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. + 9.08sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.08sINFOmap_serverActivating + 9.08sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.08sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.08sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.11sINFOplanner_serverCreating + 9.16sINFOglobal_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. + 9.17sINFOglobal_costmap.global_costmapCreating Costmap + 9.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.18sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.18sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.18sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.20sINFOrobot_state_publisherRobot initialized + 9.20sINFOcontroller_managerReceived robot description from topic. + 9.20sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.21sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.21sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.21sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.21sINFObehavior_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. + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.22sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.25sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.25sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.26sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.30sINFObt_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. + 9.32sINFObt_navigatorCreating + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.36sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.37sINFOwaypoint_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. + 9.37sINFOwaypoint_followerCreating + 9.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.38sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.41sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.41sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.41sINFOvelocity_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. + 9.41sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.44sINFOlifecycle_manager_navigationCreating + 9.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.49sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.49sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.49sINFOcontroller_serverConfiguring controller interface + 9.49sINFOcontroller_servergetting progress checker plugins.. + 9.49sINFOcontroller_servergetting goal checker plugins.. + 9.49sINFOcontroller_serverController frequency set to 20.0000Hz + 9.49sINFOlocal_costmap.local_costmapConfiguring + 9.50sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.53sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 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. + 9.61sWARNscan_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 + 9.61sWARNlaser_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. + 9.64sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.64sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.64sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.69sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.70sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.72sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.72sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.72sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.77sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.77sINFOmove_groupWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.77sINFOmove_groupat line 594 in ./src/model.cpp ×212 + 9.77sINFOmove_groupWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.78sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.78sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.79sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.484864 seconds + 9.79sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.79sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.80sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.80sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.80sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.80sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.81sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.81sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.81sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.81sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.81sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.81sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.81sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.81sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.81sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.81sINFOcontroller_serverOptimizer reset + 9.83sINFOcontroller_serverController Server has FollowPath controllers available. + 9.84sINFOmove_groupat line 589 in ./src/model.cpp ×18 + 9.85sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.85sINFOsmoother_serverConfiguring smoother server + 9.85sINFOmove_groupLoaded robot model in 0.484864 seconds[0m ×2 + 9.85sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.85sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.86sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.87sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.89sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.89sINFOplanner_serverConfiguring + 9.89sINFOglobal_costmap.global_costmapConfiguring + 9.90sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.92sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.93sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.93sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.93sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.94sINFOwaypoint_manager_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 9.94sINFOwaypoint_manager_nodeat line 594 in ./src/model.cpp ×212 + 9.94sINFOwaypoint_manager_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 9.96sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.96sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.96sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 10.00sFATALplanner_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 + 10.00sINFOplanner_serverCleaning up + 10.00sINFOglobal_costmap.global_costmapCleaning up + 10.01sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 10.03sINFOwaypoint_manager_nodeat line 589 in ./src/model.cpp ×18 + 10.03sINFOwaypoint_manager_nodeLoaded robot model in 0.354915 seconds[0m ×2 + 10.03sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.03sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947758 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947758 ms (missed cycles : 2).[0m ×2 + 10.18sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.18sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.41sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.41sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.41sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.44sWARNwaypoint_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. + 10.44sWARNwaypoint_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 + 10.44sWARNwaypoint_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. + 10.44sWARNwaypoint_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 + 10.45sWARNwaypoint_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. + 10.45sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.46sWARNwaypoint_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. + 10.47sWARNwaypoint_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. + 10.47sWARNwaypoint_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. + 10.47sWARNwaypoint_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. + 10.48sWARNwaypoint_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. + 10.48sWARNwaypoint_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. + 10.48sWARNwaypoint_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. + 10.48sWARNwaypoint_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. + 10.48sWARNwaypoint_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. + 10.48sWARNwaypoint_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 + 10.48sWARNwaypoint_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 + 10.48sWARNwaypoint_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 + 10.48sWARNwaypoint_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 + 10.48sWARNwaypoint_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 + 10.48sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.49sWARNwaypoint_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 + 10.57sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 10.57sINFOros2waiting for service /controller_manager/list_controllers to become available... ×6 + 10.78sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.78sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.78sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.78sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.78sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.78sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.78sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.78sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.78sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.78sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.79sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.79sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.79sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.79sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.79sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.79sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.80sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.90sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.90sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.91sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.05sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.05sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.05sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.05sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.05sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.05sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.05sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.05sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.05sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.05sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.05sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.05sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.05sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.05sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 11.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 11.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 11.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 11.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 11.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 11.08sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.08sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.08sWARNros2_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 + 11.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 11.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 11.13sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 11.13sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 11.13sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 11.13sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 11.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.14sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 11.14sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.40sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.42sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.42sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.44sINFOobjective_server_node[2026-06-20 16:59:27.489] [moveit_pro_license] [info] ×2 + 11.44sINFOobjective_server_node************************************************* ×4 + 11.44sINFOobjective_server_node* MoveIt Pro License ×2 + 11.44sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811944 ms (missed cycles : 2).[0m ×2 + 11.46sINFOros2-10process has finished cleanly [pid 9232] ×2 + 11.49sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 11.50sINFOobjective_server_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.50sINFOobjective_server_nodeat line 594 in ./src/model.cpp ×212 + 11.50sINFOobjective_server_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 11.52sINFOobjective_server_nodeat line 589 in ./src/model.cpp ×18 + 11.52sINFOobjective_server_nodeLoaded robot model in 0.0256259 seconds[0m ×2 + 11.52sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.52sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.59sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.59sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.59sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.60sWARNcomponent_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 + 11.73sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.73sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.73sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.74sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.74sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.74sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.74sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.74sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.74sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 11.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 11.77sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 11.77sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 11.77sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.77sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.78sINFOforce_torque_sensor_broadcasterconfigure successful + 11.78sINFOros2_control_nodeconfigure successful[0m ×6 + 11.78sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.78sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.78sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 11.79sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 11.80sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 11.80sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.81sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.81sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.98sINFOcomponent_container_mtWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×118 + 11.98sINFOcomponent_container_mtat line 594 in ./src/model.cpp ×212 + 11.98sINFOcomponent_container_mtWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×112 + 12.01sINFOcomponent_container_mtat line 589 in ./src/model.cpp ×18 + 12.01sINFOcomponent_container_mtLoaded robot model in 0.392515 seconds[0m ×2 + 12.01sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.01sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.10sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 12.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 12.11sINFOros2-9process has finished cleanly [pid 9231] ×2 + 12.15sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 12.15sINFOros2Loaded joint_state_broadcaster ×2 + 12.15sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.15sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.15sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 12.15sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 12.15sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.15sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.15sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 12.15sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 12.17sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.17sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.17sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 12.17sINFOros2Configured and activated joint_state_broadcaster ×2 + 12.27sWARNplanning_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. + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNcomponent_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 + 12.28sWARNcomponent_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 + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNplanning_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. + 12.28sWARNplanning_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. + 12.28sWARNcomponent_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 + 12.28sWARNplanning_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. + 12.28sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.29sWARNplanning_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. + 12.29sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.29sWARNcomponent_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 + 12.29sWARNplanning_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. + 12.29sWARNplanning_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. + 12.29sWARNcomponent_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 + 12.30sWARNcomponent_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 + 12.46sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.46sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 12.46sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.46sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 12.46sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 12.46sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257810 ms (missed cycles : 3). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257810 ms (missed cycles : 3).[0m ×2 + 12.49sINFOros2-11process has finished cleanly [pid 9233] ×2 + 12.53sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 12.53sINFOros2Loaded platform_velocity_controller ×2 + 12.53sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 12.53sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 12.53sINFOplatform_velocity_controllerconfigure successful + 12.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 12.54sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 12.54sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 12.54sINFOros2Configured and activated platform_velocity_controller ×2 + 12.69sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.69sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.69sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.86sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.86sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.86sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 12.86sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.86sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.86sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 12.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.88sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.88sINFOros2-12process has finished cleanly [pid 9234] ×2 + 12.94sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 12.94sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 12.94sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.94sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.95sINFOplatform_velocity_controller_nav2configure successful + 13.03sWARNobjective_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 + 13.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.05sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 13.05sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 13.06sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.06sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.06sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.06sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 13.06sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.06sINFOcomponent_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 + 13.10sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.10sINFOmove_groupMoveGroup debug mode is ON + 13.10sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.10sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.10sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.14sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.20sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.21sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.21sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.34sINFOros2-14process has finished cleanly [pid 9236] ×2 + 13.36sINFOmove_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
********************************************************
+ 13.36sINFOmove_group ×8 + 13.36sINFOmove_group******************************************************** ×4 + 13.36sINFOmove_group* MoveGroup using: ×2 + 13.36sINFOmove_group* - apply_planning_scene_service ×2 + 13.36sINFOmove_group* - clear_octomap_service ×2 + 13.36sINFOmove_group* - ExecuteTaskSolution ×2 + 13.36sINFOmove_group* - get_group_urdf ×2 + 13.36sINFOmove_group* - load_geometry_from_file ×2 + 13.36sINFOmove_group* - get_planning_scene_service ×2 + 13.36sINFOmove_group* - kinematics_service ×2 + 13.36sINFOmove_group* - save_geometry_to_file ×2 + 13.36sINFOmove_group* - GetPlanningGroups ×2 + 13.36sINFOmove_group* - SetActiveControllerService ×2 + 13.36sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.36sINFOmove_group[0m ×2 + 13.36sINFOmove_group[92mYou can start planning now![0m ×2 + 13.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 13.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 13.52sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 13.52sINFOros2Loaded velocity_force_controller ×2 + 13.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.53sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×472 + 13.53sINFOros2_control_nodeat line 594 in ./src/model.cpp ×848 + 13.53sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×448 + 13.56sINFOros2_control_nodeat line 589 in ./src/model.cpp ×72 + 13.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 13.56sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462096 ms (missed cycles : 6). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462096 ms (missed cycles : 6).[0m ×2 + 13.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.79sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.79sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 13.79sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.14sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 14.14sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 14.14sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 14.14sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 14.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 14.15sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 14.15sINFOros2-16process has finished cleanly [pid 9238] ×2 + 14.24sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 14.24sINFOros2Loaded joint_trajectory_controller ×2 + 14.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.24sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.24sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.24sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.25sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.25sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.25sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.25sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.25sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.25sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.25sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.25sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 14.64sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.64sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 14.64sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 14.64sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 14.65sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 14.65sINFOros2-15process has finished cleanly [pid 9237] ×2 + 14.72sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 14.72sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 14.75sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 14.75sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 14.75sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 14.75sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.01sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 15.01sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 15.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 15.36sINFOros2-19process has finished cleanly [pid 9241] ×2 + 15.41sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 15.41sINFOros2Loaded arm_only_velocity_force_controller ×2 + 15.41sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 15.66sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 15.66sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 15.66sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.01sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 16.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 16.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.03sINFOros2-17process has finished cleanly [pid 9239] ×2 + 16.06sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 16.06sINFOros2Loaded vacuum_gripper ×2 + 16.06sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.06sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.06sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.06sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.08sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 16.08sINFOros2Configured and activated vacuum_gripper ×2 + 16.42sINFOros2-13process has finished cleanly [pid 9235] ×2 + 16.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 16.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 16.47sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 16.47sINFOros2Loaded joint_velocity_controller ×2 + 16.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 16.73sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 16.73sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 16.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 16.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.05sINFOros2-18process has finished cleanly [pid 9240] ×2 + 17.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 17.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.34sINFOmove_groupClearing octomap...[0m ×2 + 17.34sINFOmove_groupOctomap cleared.[0m ×2 + 17.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 17.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 17.91sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 18.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 18.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 19.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 19.18sINFOobjective_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 + 19.18sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.18sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.18sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.18sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.21sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.21sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 19.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 19.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 19.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 19.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 19.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 19.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 19.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 19.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 19.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 1642 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]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.40sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.41sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.51sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.51sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.52sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.52sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.11sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.11sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.11sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.12sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.17sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.76sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.76sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.78sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.79sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.82sINFOros2Loaded vacuum_gripper ×2 + 1.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.84sINFOros2Configured and activated vacuum_gripper ×2 + 2.18sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.23sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.23sINFOros2Loaded joint_velocity_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.49sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.49sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.81sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 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 + 4.94sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.95sINFOobjective_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 + 4.97sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.97sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 6.58sWARNobjective_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 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.84sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.06sINFOjoint_trajectory_controllerReceived new action goal + 7.06sINFOjoint_trajectory_controllerAccepted new action goal + 7.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 27 warnings · 1653 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[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 2.999427 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 7.29sINFOros2_control_nodeMuJoCo sim: 0.24% 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/2026-06-20-16-59-13-623456-4b66787ba1be-9097 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 1648 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:29.840] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.843] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:29.844] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.36sINFOros2-16process has finished cleanly [pid 9238] ×2 + 0.45sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.45sINFOros2Loaded joint_trajectory_controller ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.46sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.85sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.93sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.93sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.96sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.96sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.97sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.97sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.99sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.57sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.62sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.62sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.87sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.88sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.21sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.21sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.22sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.22sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.22sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.24sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.24sINFOros2-17process has finished cleanly [pid 9239] ×2 + 2.27sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.27sINFOros2Loaded vacuum_gripper ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.27sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.27sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.28sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.29sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.29sINFOros2Configured and activated vacuum_gripper ×2 + 2.63sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.63sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.63sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.63sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.63sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.68sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.68sINFOros2Loaded joint_velocity_controller ×2 + 2.69sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.69sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.26sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 5.39sINFOobjective_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 + 5.39sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.39sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.39sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.39sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.42sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.43sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 27 warnings · 1636 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]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 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 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.482571 ms (missed cycles : 3).[0m ×2 + 0.40sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.40sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.40sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.40sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.40sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.41sINFOros2-15process has finished cleanly [pid 9237] ×2 + 0.48sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.48sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.51sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.51sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×354 + 0.52sINFOros2_control_nodeat line 594 in ./src/model.cpp ×636 + 0.52sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×336 + 0.54sINFOros2_control_nodeat line 589 in ./src/model.cpp ×54 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.54sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.11sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.11sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.11sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.12sINFOros2-19process has finished cleanly [pid 9241] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.17sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.17sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.17sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 1.42sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.76sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.76sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.76sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.77sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.77sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.78sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.78sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.79sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.82sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.82sINFOros2Loaded vacuum_gripper ×2 + 1.82sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.82sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.84sINFOros2Configured and activated vacuum_gripper ×2 + 2.18sINFOros2-13process has finished cleanly [pid 9235] ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 2.23sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.23sINFOros2Loaded joint_velocity_controller ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.49sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 2.49sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.81sINFOros2-18process has finished cleanly [pid 9240] ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 4.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 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 + 4.94sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.95sINFOobjective_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 + 4.97sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.97sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 5.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 5.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 6.58sWARNobjective_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 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.84sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_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 | 27 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256941 ms (missed cycles : 4). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256941 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 1119 info |
+ 0.00sINFOros2_control_node[2026-06-20 16:59:31.064] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-20 16:59:31.065] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 0.34sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 0.35sINFOros2-19process has finished cleanly [pid 9241] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.39sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_base_top' is not known to URDF. Cannot disable/enable collisons. ×236 + 0.41sINFOros2_control_nodeat line 594 in ./src/model.cpp ×424 + 0.41sINFOros2_control_nodeWarning: Link 'vacuum_suction_cups' is not known to URDF. Cannot disable/enable collisons. ×224 + 0.43sINFOros2_control_nodeat line 589 in ./src/model.cpp ×36 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266501 ms (missed cycles : 4).[0m ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.713] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.715] [info] Controller state will be published at 10 Hz. ×2 + 0.65sINFOros2_control_node[2026-06-20 16:59:31.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.99sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.99sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.99sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.99sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.00sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.01sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.01sINFOros2-17process has finished cleanly [pid 9239] ×2 + 1.05sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.05sINFOros2Loaded vacuum_gripper ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.05sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.05sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.05sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.06sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.07sINFOros2Configured and activated vacuum_gripper ×2 + 1.40sINFOros2-13process has finished cleanly [pid 9235] ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_7g59b0k6 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_8vnk_no2 --params-file /tmp/launch_params_eofodtjv [0m ×2 + 1.46sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.46sINFOros2Loaded joint_velocity_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.784] [info] Controller state will be published at 20 Hz. ×2 + 1.72sINFOros2_control_node[2026-06-20 16:59:32.785] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134419 ms (missed cycles : 2).[0m ×2 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.04sINFOros2-18process has finished cleanly [pid 9240] ×2 + 2.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1781974773.39452457 seconds. ×3 + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.33sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.33sINFOmove_groupClearing octomap...[0m ×2 + 2.33sINFOmove_groupOctomap cleared.[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1781974773.40471077 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.727284 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1781974773.95489979 seconds. ×3 + 2.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1781974773.96502638 seconds ×3 + 3.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1781974774.50367641 seconds. ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1781974774.65480399 seconds ×3 + 3.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4). + 3.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405089 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1781974775.21740174 seconds. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.17sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.17sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.20sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.20sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1781974775.27754474 seconds ×3 + 4.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1781974775.81155825 seconds. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087985 ms (missed cycles : 2).[0m ×2 + 5.81sWARNobjective_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 + 5.81sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999427 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOjoint_trajectory_controllerReceived new action goal + 6.29sINFOjoint_trajectory_controllerAccepted new action goal + 6.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.29sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||