67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.3s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.6s | 3 errors · 237 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874839 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874839 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078717 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078717 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826719 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826719 ms (missed cycles : 7).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721042 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721042 ms (missed cycles : 2).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGot request to cancel goal + 3.34sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.34sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782150461.14167523 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782150461.69294858 seconds. ×3 + 3.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501898 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501898 ms (missed cycles : 3).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131667 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131667 ms (missed cycles : 4).[0m ×2 + 5.53sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.60sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.60sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.60sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.60sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995490 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.995490 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806671 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806671 ms (missed cycles : 3).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938371 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938371 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145433 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145433 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465709 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465709 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669517 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669517 ms (missed cycles : 2).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.490331 ms (missed cycles : 7). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.490331 ms (missed cycles : 7).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064434 ms (missed cycles : 6). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.064434 ms (missed cycles : 6).[0m ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272728 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272728 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361326 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361326 ms (missed cycles : 2).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054225 ms (missed cycles : 3). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054225 ms (missed cycles : 3).[0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330719 ms (missed cycles : 3). + 17.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330719 ms (missed cycles : 3).[0m ×2 + 18.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074647 ms (missed cycles : 3). + 18.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074647 ms (missed cycles : 3).[0m ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795021 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.795021 ms (missed cycles : 3).[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152191 ms (missed cycles : 6). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152191 ms (missed cycles : 6).[0m ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137028 ms (missed cycles : 5). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137028 ms (missed cycles : 5).[0m ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185647 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185647 ms (missed cycles : 2).[0m ×2 + 23.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.976167 ms (missed cycles : 6). + 23.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.976167 ms (missed cycles : 6).[0m ×2 + 24.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774629 ms (missed cycles : 3). + 24.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774629 ms (missed cycles : 3).[0m ×2 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652857 ms (missed cycles : 3). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652857 ms (missed cycles : 3).[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940272 ms (missed cycles : 3). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940272 ms (missed cycles : 3).[0m ×2 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216874 ms (missed cycles : 3). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216874 ms (missed cycles : 3).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137470 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137470 ms (missed cycles : 2).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815780 ms (missed cycles : 4). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815780 ms (missed cycles : 4).[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774706 ms (missed cycles : 3). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774706 ms (missed cycles : 3).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859485 ms (missed cycles : 4). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859485 ms (missed cycles : 4).[0m ×2 + 32.85sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.85sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.13sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148175 ms (missed cycles : 3). + 33.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148175 ms (missed cycles : 3).[0m ×2 + 33.80sWARNobjective_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 + 33.80sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533606 ms (missed cycles : 3). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.533606 ms (missed cycles : 3).[0m ×2 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120903 ms (missed cycles : 3). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120903 ms (missed cycles : 3).[0m ×2 + 36.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256907 ms (missed cycles : 3). + 36.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256907 ms (missed cycles : 3).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916974 ms (missed cycles : 3). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916974 ms (missed cycles : 3).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808764 ms (missed cycles : 4). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808764 ms (missed cycles : 4).[0m ×2 + 39.42sINFOros2_control_nodeMuJoCo sim: 1.16% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764911 ms (missed cycles : 5). + 39.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764911 ms (missed cycles : 5).[0m ×2 + 40.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761612 ms (missed cycles : 2). + 40.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761612 ms (missed cycles : 2).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652120 ms (missed cycles : 3). + 41.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652120 ms (missed cycles : 3).[0m ×2 + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.944718 ms (missed cycles : 6). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.944718 ms (missed cycles : 6).[0m ×2 + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753152 ms (missed cycles : 2). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753152 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577783 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577783 ms (missed cycles : 2).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032882 ms (missed cycles : 3). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.032882 ms (missed cycles : 3).[0m ×2 + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398804 ms (missed cycles : 2). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398804 ms (missed cycles : 2).[0m ×2 + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695119 ms (missed cycles : 6). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695119 ms (missed cycles : 6).[0m ×2 + 49.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352066 ms (missed cycles : 3). + 49.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352066 ms (missed cycles : 3).[0m ×2 + 49.88sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 50.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382797 ms (missed cycles : 3). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382797 ms (missed cycles : 3).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.286345 ms (missed cycles : 8). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.286345 ms (missed cycles : 8).[0m ×2 + 52.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242800 ms (missed cycles : 2). + 52.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242800 ms (missed cycles : 2).[0m ×2 + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316043 ms (missed cycles : 4). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316043 ms (missed cycles : 4).[0m ×2 + 54.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052143 ms (missed cycles : 2). + 54.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052143 ms (missed cycles : 2).[0m ×2 + 55.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613391 ms (missed cycles : 3). + 55.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613391 ms (missed cycles : 3).[0m ×2 + 56.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409423 ms (missed cycles : 2). + 56.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409423 ms (missed cycles : 2).[0m ×2 + 57.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270979 ms (missed cycles : 2). + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270979 ms (missed cycles : 2).[0m ×2 + 58.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947167 ms (missed cycles : 2). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947167 ms (missed cycles : 2).[0m ×2 + 59.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091963 ms (missed cycles : 2). + 59.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091963 ms (missed cycles : 2).[0m ×2 + 60.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772988 ms (missed cycles : 5). + 60.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772988 ms (missed cycles : 5).[0m ×2 + 61.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204630 ms (missed cycles : 3). + 61.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204630 ms (missed cycles : 3).[0m ×2 + 62.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160861 ms (missed cycles : 2). + 62.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160861 ms (missed cycles : 2).[0m ×2 + 63.42sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 63.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368053 ms (missed cycles : 3). + 63.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368053 ms (missed cycles : 3).[0m ×2 + 64.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885002 ms (missed cycles : 4). + 64.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885002 ms (missed cycles : 4).[0m ×2 + 65.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676866 ms (missed cycles : 2). + 65.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676866 ms (missed cycles : 2).[0m ×2 + 66.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266417 ms (missed cycles : 2). + 66.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266417 ms (missed cycles : 2).[0m ×2 + 67.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204209 ms (missed cycles : 2). + 67.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204209 ms (missed cycles : 2).[0m ×2 + 68.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690482 ms (missed cycles : 2). + 68.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690482 ms (missed cycles : 2).[0m ×2 + 69.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850285 ms (missed cycles : 3). + 69.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850285 ms (missed cycles : 3).[0m ×2 + 71.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.049869 ms (missed cycles : 6). + 71.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.049869 ms (missed cycles : 6).[0m ×2 + 72.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 72.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 73.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 73.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 74.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 74.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 75.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 75.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 75.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 76.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 76.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 76.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 76.94sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 77.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 77.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 78.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 78.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.2s | 186 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782150303.52542090 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782150304.07681274 seconds. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385204 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385204 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725913 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725913 ms (missed cycles : 2).[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994324 ms (missed cycles : 3). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994324 ms (missed cycles : 3).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559618 ms (missed cycles : 6). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559618 ms (missed cycles : 6).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268115 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268115 ms (missed cycles : 3).[0m ×2 + 12.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742373 ms (missed cycles : 2). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742373 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715173 ms (missed cycles : 7). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.715173 ms (missed cycles : 7).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472285 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472285 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672565 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672565 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.050001 ms (missed cycles : 6). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.050001 ms (missed cycles : 6).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296208 ms (missed cycles : 2). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296208 ms (missed cycles : 2).[0m ×2 + 17.32sINFOros2_control_nodeMuJoCo sim: 0.66% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726426 ms (missed cycles : 2). + 18.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726426 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318051 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318051 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525731 ms (missed cycles : 5). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525731 ms (missed cycles : 5).[0m ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811895 ms (missed cycles : 5). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.811895 ms (missed cycles : 5).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078318 ms (missed cycles : 4). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078318 ms (missed cycles : 4).[0m ×2 + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881581 ms (missed cycles : 5). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881581 ms (missed cycles : 5).[0m ×2 + 24.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989626 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989626 ms (missed cycles : 2).[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430623 ms (missed cycles : 3). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430623 ms (missed cycles : 3).[0m ×2 + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129025 ms (missed cycles : 6). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.129025 ms (missed cycles : 6).[0m ×2 + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152651 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152651 ms (missed cycles : 2).[0m ×2 + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733830 ms (missed cycles : 2). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733830 ms (missed cycles : 2).[0m ×2 + 29.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978784 ms (missed cycles : 4). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978784 ms (missed cycles : 4).[0m ×2 + 31.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 731.987823 ms (missed cycles : 440). + 31.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 731.987823 ms (missed cycles : 440).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222056 ms (missed cycles : 5).[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461468 ms (missed cycles : 5). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.461468 ms (missed cycles : 5).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415628 ms (missed cycles : 4). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415628 ms (missed cycles : 4).[0m ×2 + 35.07sWARNobjective_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 + 35.07sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.982470 ms (missed cycles : 6). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.982470 ms (missed cycles : 6).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661367 ms (missed cycles : 3). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.661367 ms (missed cycles : 3).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294683 ms (missed cycles : 3). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294683 ms (missed cycles : 3).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198611 ms (missed cycles : 3). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198611 ms (missed cycles : 3).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318568 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318568 ms (missed cycles : 2).[0m ×2 + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516284 ms (missed cycles : 4). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516284 ms (missed cycles : 4).[0m ×2 + 41.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.749155 ms (missed cycles : 7). + 41.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.749155 ms (missed cycles : 7).[0m ×2 + 42.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050811 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050811 ms (missed cycles : 2).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191677 ms (missed cycles : 6). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.191677 ms (missed cycles : 6).[0m ×2 + 44.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514499 ms (missed cycles : 5). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514499 ms (missed cycles : 5).[0m ×2 + 45.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611436 ms (missed cycles : 4). + 45.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611436 ms (missed cycles : 4).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151543 ms (missed cycles : 6). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151543 ms (missed cycles : 6).[0m ×2 + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596026 ms (missed cycles : 2). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596026 ms (missed cycles : 2).[0m ×2 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417843 ms (missed cycles : 3). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417843 ms (missed cycles : 3).[0m ×2 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066815 ms (missed cycles : 4). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066815 ms (missed cycles : 4).[0m ×2 + 51.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.456302 ms (missed cycles : 8). + 51.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.456302 ms (missed cycles : 8).[0m ×2 + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202189 ms (missed cycles : 3). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202189 ms (missed cycles : 3).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650228 ms (missed cycles : 3). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650228 ms (missed cycles : 3).[0m ×2 + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513852 ms (missed cycles : 4). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.513852 ms (missed cycles : 4).[0m ×2 + 55.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640592 ms (missed cycles : 4). + 55.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640592 ms (missed cycles : 4).[0m ×2 + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.491887 ms (missed cycles : 6). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.491887 ms (missed cycles : 6).[0m ×2 + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 58.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 58.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 59.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 59.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 60.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 60.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 60.91sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 61.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 61.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 61.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 61.81sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 61.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 62.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 63.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 63.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.4s | 183 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.32sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.32sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080077 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080077 ms (missed cycles : 2).[0m ×2 + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096806 ms (missed cycles : 2). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096806 ms (missed cycles : 2).[0m ×2 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970773 ms (missed cycles : 2). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970773 ms (missed cycles : 2).[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916614 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916614 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912617 ms (missed cycles : 4). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.912617 ms (missed cycles : 4).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294315 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294315 ms (missed cycles : 2).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654016 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654016 ms (missed cycles : 3).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006306 ms (missed cycles : 5). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006306 ms (missed cycles : 5).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585826 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585826 ms (missed cycles : 3).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669664 ms (missed cycles : 2).[0m ×2 + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892013 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892013 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876345 ms (missed cycles : 4). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.876345 ms (missed cycles : 4).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805427 ms (missed cycles : 5). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805427 ms (missed cycles : 5).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438833 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438833 ms (missed cycles : 3).[0m ×2 + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284130 ms (missed cycles : 2). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284130 ms (missed cycles : 2).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.823592 ms (missed cycles : 7). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.823592 ms (missed cycles : 7).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816643 ms (missed cycles : 3). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816643 ms (missed cycles : 3).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545578 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545578 ms (missed cycles : 3).[0m ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237251 ms (missed cycles : 6). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.237251 ms (missed cycles : 6).[0m ×2 + 27.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337426 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.337426 ms (missed cycles : 3).[0m ×2 + 27.35sINFOros2_control_nodeMuJoCo sim: 1.12% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133647 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133647 ms (missed cycles : 2).[0m ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329766 ms (missed cycles : 3). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329766 ms (missed cycles : 3).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151760 ms (missed cycles : 6). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151760 ms (missed cycles : 6).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749943 ms (missed cycles : 2). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749943 ms (missed cycles : 2).[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832464 ms (missed cycles : 2). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832464 ms (missed cycles : 2).[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020107 ms (missed cycles : 6). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.020107 ms (missed cycles : 6).[0m ×2 + 33.54sWARNobjective_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 + 33.54sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183801 ms (missed cycles : 2). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183801 ms (missed cycles : 2).[0m ×2 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183509 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183509 ms (missed cycles : 2).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430263 ms (missed cycles : 8). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430263 ms (missed cycles : 8).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653121 ms (missed cycles : 5). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.653121 ms (missed cycles : 5).[0m ×2 + 38.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740008 ms (missed cycles : 2). + 38.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740008 ms (missed cycles : 2).[0m ×2 + 39.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850253 ms (missed cycles : 4). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.850253 ms (missed cycles : 4).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755656 ms (missed cycles : 3). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755656 ms (missed cycles : 3).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686027 ms (missed cycles : 2). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686027 ms (missed cycles : 2).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521640 ms (missed cycles : 5). + 42.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521640 ms (missed cycles : 5).[0m ×2 + 43.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279369 ms (missed cycles : 6). + 43.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.279369 ms (missed cycles : 6).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855125 ms (missed cycles : 2). + 44.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855125 ms (missed cycles : 2).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769277 ms (missed cycles : 3). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769277 ms (missed cycles : 3).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255386 ms (missed cycles : 4). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255386 ms (missed cycles : 4).[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856553 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856553 ms (missed cycles : 2).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667277 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667277 ms (missed cycles : 5).[0m ×2 + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369044 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369044 ms (missed cycles : 3).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151907 ms (missed cycles : 6). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.151907 ms (missed cycles : 6).[0m ×2 + 51.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522068 ms (missed cycles : 4). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.522068 ms (missed cycles : 4).[0m ×2 + 53.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343253 ms (missed cycles : 4). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343253 ms (missed cycles : 4).[0m ×2 + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589524 ms (missed cycles : 2). + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589524 ms (missed cycles : 2).[0m ×2 + 55.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633450 ms (missed cycles : 5). + 55.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.633450 ms (missed cycles : 5).[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232936 ms (missed cycles : 3). + 56.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232936 ms (missed cycles : 3).[0m ×2 + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162941 ms (missed cycles : 5). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162941 ms (missed cycles : 5).[0m ×2 + 58.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614977 ms (missed cycles : 2). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614977 ms (missed cycles : 2).[0m ×2 + 59.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839007 ms (missed cycles : 2). + 59.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839007 ms (missed cycles : 2).[0m ×2 + 59.34sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782150589.19945335 seconds ×3 + 59.90sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782150589.76067638 seconds. ×3 + 60.22sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 60.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185931 ms (missed cycles : 4). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185931 ms (missed cycles : 4).[0m ×2 + 61.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283527 ms (missed cycles : 2). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283527 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.2s | 174 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.79sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782150397.20339155 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782150397.75528932 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.02sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.02sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963837 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963837 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822993 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822993 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090080 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090080 ms (missed cycles : 3).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091732 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091732 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791410 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791410 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939201 ms (missed cycles : 3). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939201 ms (missed cycles : 3).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895320 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895320 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199589 ms (missed cycles : 6). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.199589 ms (missed cycles : 6).[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215589 ms (missed cycles : 5). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215589 ms (missed cycles : 5).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009831 ms (missed cycles : 5). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.009831 ms (missed cycles : 5).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726546 ms (missed cycles : 3). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726546 ms (missed cycles : 3).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282469 ms (missed cycles : 4). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.282469 ms (missed cycles : 4).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306546 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306546 ms (missed cycles : 2).[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553755 ms (missed cycles : 3). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553755 ms (missed cycles : 3).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.156969 ms (missed cycles : 6). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.156969 ms (missed cycles : 6).[0m ×2 + 23.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424915 ms (missed cycles : 4). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424915 ms (missed cycles : 4).[0m ×2 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343580 ms (missed cycles : 6). + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343580 ms (missed cycles : 6).[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834822 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834822 ms (missed cycles : 2).[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178256 ms (missed cycles : 3). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178256 ms (missed cycles : 3).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175597 ms (missed cycles : 5). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.175597 ms (missed cycles : 5).[0m ×2 + 28.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859061 ms (missed cycles : 2). + 28.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859061 ms (missed cycles : 2).[0m ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076206 ms (missed cycles : 3). + 29.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076206 ms (missed cycles : 3).[0m ×2 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888699 ms (missed cycles : 2). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888699 ms (missed cycles : 2).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501882 ms (missed cycles : 5). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.501882 ms (missed cycles : 5).[0m ×2 + 32.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145174 ms (missed cycles : 2). + 32.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145174 ms (missed cycles : 2).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494017 ms (missed cycles : 3). + 33.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494017 ms (missed cycles : 3).[0m ×2 + 33.69sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.35sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.35sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752480 ms (missed cycles : 4). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.752480 ms (missed cycles : 4).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710310 ms (missed cycles : 3). + 35.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710310 ms (missed cycles : 3).[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665470 ms (missed cycles : 4). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.665470 ms (missed cycles : 4).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697677 ms (missed cycles : 5). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697677 ms (missed cycles : 5).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103030 ms (missed cycles : 6). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103030 ms (missed cycles : 6).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508624 ms (missed cycles : 4). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508624 ms (missed cycles : 4).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019955 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.019955 ms (missed cycles : 3).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.870491 ms (missed cycles : 6). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.870491 ms (missed cycles : 6).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326516 ms (missed cycles : 4). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326516 ms (missed cycles : 4).[0m ×2 + 43.84sINFOros2_control_nodeMuJoCo sim: 0.99% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393740 ms (missed cycles : 4). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393740 ms (missed cycles : 4).[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695299 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695299 ms (missed cycles : 2).[0m ×2 + 46.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158444 ms (missed cycles : 5). + 46.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158444 ms (missed cycles : 5).[0m ×2 + 47.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550623 ms (missed cycles : 5). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.550623 ms (missed cycles : 5).[0m ×2 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.464617 ms (missed cycles : 6). + 48.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.464617 ms (missed cycles : 6).[0m ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709491 ms (missed cycles : 2). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709491 ms (missed cycles : 2).[0m ×2 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114222 ms (missed cycles : 2). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114222 ms (missed cycles : 2).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244754 ms (missed cycles : 2). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244754 ms (missed cycles : 2).[0m ×2 + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148316 ms (missed cycles : 3). + 52.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.148316 ms (missed cycles : 3).[0m ×2 + 53.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945920 ms (missed cycles : 3). + 53.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945920 ms (missed cycles : 3).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294051 ms (missed cycles : 4). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294051 ms (missed cycles : 4).[0m ×2 + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709832 ms (missed cycles : 2). + 56.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709832 ms (missed cycles : 2).[0m ×2 + 57.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782150450.38545299 seconds ×3 + 57.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.925108 ms (missed cycles : 7). + 57.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.925108 ms (missed cycles : 7).[0m ×2 + 57.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782150450.93551874 seconds. ×3 + 57.96sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 58.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.671098 ms (missed cycles : 8). + 58.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.671098 ms (missed cycles : 8).[0m ×2 + 59.18sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311101 ms (missed cycles : 3). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311101 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.36sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.36sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.36sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.36sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.38sINFOros2-18process has finished cleanly [pid 9238] ×2 + 0.43sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.43sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.43sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 0.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.45sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.82sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.82sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 0.82sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.20sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.23sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.24sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.24sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.24sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.27sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.28sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.29sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.30sINFOforce_torque_sensor_broadcasterconfigure successful + 1.30sINFOros2_control_nodeconfigure successful[0m ×2 + 1.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.31sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.31sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.74sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.04sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 2.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 3.90sINFOobjective_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 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 4.91sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.435714 ms (missed cycles : 7). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.435714 ms (missed cycles : 7).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624034 ms (missed cycles : 4). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.624034 ms (missed cycles : 4).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333487 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.333487 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841137 ms (missed cycles : 5). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.841137 ms (missed cycles : 5).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013208 ms (missed cycles : 3). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013208 ms (missed cycles : 3).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958337 ms (missed cycles : 5). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958337 ms (missed cycles : 5).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366288 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.366288 ms (missed cycles : 4).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757835 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757835 ms (missed cycles : 4).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292535 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.292535 ms (missed cycles : 4).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991171 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991171 ms (missed cycles : 2).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119958 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119958 ms (missed cycles : 3).[0m ×2 + 18.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701973 ms (missed cycles : 2). + 18.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701973 ms (missed cycles : 2).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.657662 ms (missed cycles : 6). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.657662 ms (missed cycles : 6).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079114 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079114 ms (missed cycles : 2).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503204 ms (missed cycles : 2). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503204 ms (missed cycles : 2).[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967986 ms (missed cycles : 5). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967986 ms (missed cycles : 5).[0m ×2 + 23.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739158 ms (missed cycles : 5). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.739158 ms (missed cycles : 5).[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237024 ms (missed cycles : 2). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237024 ms (missed cycles : 2).[0m ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966323 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966323 ms (missed cycles : 2).[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863540 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863540 ms (missed cycles : 2).[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917943 ms (missed cycles : 3). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917943 ms (missed cycles : 3).[0m ×2 + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362089 ms (missed cycles : 2). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362089 ms (missed cycles : 2).[0m ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905729 ms (missed cycles : 2). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905729 ms (missed cycles : 2).[0m ×2 + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947713 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947713 ms (missed cycles : 3).[0m ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318744 ms (missed cycles : 4). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318744 ms (missed cycles : 4).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235797 ms (missed cycles : 5). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235797 ms (missed cycles : 5).[0m ×2 + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578929 ms (missed cycles : 3). + 34.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578929 ms (missed cycles : 3).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046832 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046832 ms (missed cycles : 3).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863694 ms (missed cycles : 2). + 36.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863694 ms (missed cycles : 2).[0m ×2 + 37.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164498 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164498 ms (missed cycles : 3).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992489 ms (missed cycles : 6). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.992489 ms (missed cycles : 6).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565350 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565350 ms (missed cycles : 2).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598301 ms (missed cycles : 3). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598301 ms (missed cycles : 3).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431450 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431450 ms (missed cycles : 3).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538382 ms (missed cycles : 2). + 42.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538382 ms (missed cycles : 2).[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2).[0m ×2 + 44.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6). + 44.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6).[0m ×2 + 45.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3). + 45.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3).[0m ×2 + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3).[0m ×2 + 47.60sINFOjoint_trajectory_controllerGoal reached, success! + 47.60sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 48.15sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 49.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 49.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 49.12sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 49.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 50.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 111 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510644 ms (missed cycles : 5). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510644 ms (missed cycles : 5).[0m ×2 + 2.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.78sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782150365.37370324 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239407 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239407 ms (missed cycles : 2).[0m ×2 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166819 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166819 ms (missed cycles : 6).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782150366.93320251 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309010 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309010 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776827 ms (missed cycles : 6). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776827 ms (missed cycles : 6).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785720 ms (missed cycles : 4). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785720 ms (missed cycles : 4).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090166 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090166 ms (missed cycles : 2).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510820 ms (missed cycles : 4). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510820 ms (missed cycles : 4).[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031498 ms (missed cycles : 5). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031498 ms (missed cycles : 5).[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121821 ms (missed cycles : 6). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.121821 ms (missed cycles : 6).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969476 ms (missed cycles : 2). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969476 ms (missed cycles : 2).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417421 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417421 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147186 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147186 ms (missed cycles : 2).[0m ×2 + 14.61sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727813 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727813 ms (missed cycles : 2).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013533 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013533 ms (missed cycles : 3).[0m ×2 + 17.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050583 ms (missed cycles : 3). + 17.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050583 ms (missed cycles : 3).[0m ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381631 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381631 ms (missed cycles : 2).[0m ×2 + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764883 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764883 ms (missed cycles : 3).[0m ×2 + 20.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719467 ms (missed cycles : 3). + 20.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719467 ms (missed cycles : 3).[0m ×2 + 21.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402505 ms (missed cycles : 3). + 21.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402505 ms (missed cycles : 3).[0m ×2 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028952 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.028952 ms (missed cycles : 2).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760907 ms (missed cycles : 4). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.760907 ms (missed cycles : 4).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991480 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991480 ms (missed cycles : 2).[0m ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484751 ms (missed cycles : 3). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484751 ms (missed cycles : 3).[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011802 ms (missed cycles : 3). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011802 ms (missed cycles : 3).[0m ×2 + 27.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678067 ms (missed cycles : 3). + 27.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678067 ms (missed cycles : 3).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377234 ms (missed cycles : 2). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377234 ms (missed cycles : 2).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840175 ms (missed cycles : 3). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840175 ms (missed cycles : 3).[0m ×2 + 30.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2). + 30.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2).[0m ×2 + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3).[0m ×2 + 32.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2). + 32.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2).[0m ×2 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2). + 33.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2).[0m ×2 + 34.61sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782150397.20339155 seconds ×3 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2).[0m ×2 + 35.17sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782150397.75528932 seconds. ×3 + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3).[0m ×2 + 36.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2). + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 13.1s | 78 errors · 33 warnings · 381 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4).[0m ×2 + 2.35sINFOjoint_trajectory_controllerGoal reached, success! + 2.35sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.38sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782150601.98759413 seconds ×3 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782150602.57370019 seconds. ×3 + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.97sINFOmove_groupClearing octomap...[0m ×2 + 2.97sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782150603.19944978 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782150603.75515437 seconds. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782150604.17658734 seconds ×3 + 4.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787983 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787983 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871226 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871226 ms (missed cycles : 2).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476027 ms (missed cycles : 3). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476027 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944859 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944859 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722467 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722467 ms (missed cycles : 2).[0m ×2 + 10.56sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.57sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481017 ms (missed cycles : 2). + 10.67sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.71sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.73sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.75sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.76sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.78sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.80sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.82sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.84sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.87sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.89sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.93sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.93sINFOcontroller_managerShutdown request received.... + 10.93sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.93sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.93sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.93sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.93sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.93sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.93sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.93sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.93sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.93sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.93sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.93sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.93sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.93sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.93sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.93sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.93sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.93sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.93sINFOcontroller_managerShutting down the controller manager. + 10.94sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.95sINFOweb_video_server-31process has finished cleanly [pid 9310] ×2 + 10.96sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.97sERRORmove_group-20process has died [pid 9240, 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_ajocj5gk --params-file /tmp/launch_params_ykvcshbt --params-file /tmp/launch_params_k2yd1q2g --params-file /tmp/launch_params_nxxrc4cl --params-file /tmp/launch_params_vcra2hno --params-file /tmp/launch_params_wln12tau --params-file /tmp/launch_params_586tdndu --params-file /tmp/launch_params_mdeyjvnu --params-file /tmp/launch_params_yz4t4qag']. ×2 + 10.97sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9308] ×2 + 10.98sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.99sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.00sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481017 ms (missed cycles : 2).[0m ×2 + 11.01sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.03sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.04sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.04sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.04sINFOcontroller_serverCleaning up + 11.04sINFOlocal_costmap.local_costmapCleaning up + 11.04sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.04sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.04sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.04sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.04sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.05sINFOui_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 + 11.05sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.05sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.05sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.05sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.05sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.05sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.05sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORobjective_server_node_main-25process has died [pid 9302, 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_q6tsqvkv --params-file /tmp/launch_params_xhmtctov --params-file /tmp/launch_params_e7c28q6t --params-file /tmp/launch_params_supm4lyp --params-file /tmp/launch_params_udbfdmdm --params-file /tmp/launch_params_yjsp8pxh --params-file /tmp/launch_params_vwcq8xij --params-file /tmp/launch_params_wee2mf0o --params-file /tmp/launch_params_5i4f4z8e']. ×2 + 11.05sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.05sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.05sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.05sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.05sERRORmove_groupStack trace (most recent call last) in thread 9809: ×2 + 11.05sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.05sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6aa7758a63, in __clone ×2 + 11.05sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6aa76cbaa3, in ×2 + 11.05sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6aa795ddb3, in ×2 + 11.05sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6aa7fb21c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.05sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6aa7cd04d0, in rclcpp::Rate::sleep() ×2 + 11.05sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6aa7c23a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.05sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6aa7be8a71, in ×2 + 11.05sINFOobjective_server_node[2026-06-22 17:50:10.493] [moveit_pro_license] [info] ×2 + 11.05sINFOobjective_server_node************************************************* ×4 + 11.05sINFOobjective_server_node* MoveIt Pro License ×2 + 11.05sINFOobjective_server_node* Application has successfully terminated ×2 + 11.05sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6aa792c390, in __cxa_throw ×2 + 11.05sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6aa7916a54, in std::terminate() ×2 + 11.05sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6aa792c0d9, in ×2 + 11.05sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6aa7916ff4, in ×2 + 11.06sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6aa76578fe, in abort ×2 + 11.06sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6aa767427d, in raise ×2 + 11.06sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6aa76cdb2c, in pthread_kill ×2 + 11.06sERRORmove_groupAborted (Signal sent by tkill() 9240 0) ×2 + 11.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.06sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.06sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.06sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.06sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.06sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.06sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.06sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55aaf5a726a4, in _start ×2 + 11.06sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f267812628a, in __libc_start_main ×2 + 11.06sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f26781261d0, in ×2 + 11.06sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2678143bbd, in exit ×2 + 11.06sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f2678143a75, in ×2 + 11.06sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f26786154a2, in spdlog::details::registry::~registry() ×2 + 11.06sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f267862069d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.06sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f267861a965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.06sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55aaf5a79315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.06sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55aaf5a785a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.06sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55aaf5a74b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.06sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55aaf5a72d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.06sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678cb3454, in rclcpp::Node::~Node() ×2 + 11.06sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678c6e515, in ×2 + 11.06sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678cb1d20, in ×2 + 11.06sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678cb1c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.06sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678c6e5d9, in ×2 + 11.06sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2678c73161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.06sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f262351b140]) ×2 + 11.06sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.06sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.07sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.07sINFOodom_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 + 11.07sINFOodom_qos_relay.pymain() ×2 + 11.07sINFOodom_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 + 11.07sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.07sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.07sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.07sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.07sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.07sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.07sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.07sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 11.07sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.07sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.08sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.08sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.08sINFOmap_serverDeactivating + 11.08sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.09sINFOmap_serverCleaning up + 11.09sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.09sINFOsmoother_serverCleaning up + 11.11sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.11sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.11sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.12sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.12sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.12sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.12sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.12sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.12sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.12sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.12sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.12sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.14sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.14sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.14sINFOros2_control_nodepublish_async_failures_ 7[0m ×2 + 11.85sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9301] ×2 + 11.86sERRORui_teleop_bridge-28process has died [pid 9305, 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_mrc__cta']. ×2 + 11.86sINFOexecute_objective_bridge-27process has finished cleanly [pid 9304] ×2 + 11.88sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9243] ×2 + 11.94sINFOparameter_manager_node-21process has finished cleanly [pid 9241] ×2 + 11.95sINFOwaypoint_manager_node-22process has finished cleanly [pid 9242] ×2 + 11.99sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9150] ×2 + 12.00sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9149] ×2 + 12.03sINFOstatic_transform_publisher-4process has finished cleanly [pid 9147] ×2 + 12.06sINFOstatic_transform_publisher-3process has finished cleanly [pid 9146] ×2 + 12.06sINFOcomponent_container_mt-26process has finished cleanly [pid 9303] ×2 + 12.07sINFOstatic_transform_publisher-2process has finished cleanly [pid 9145] ×2 + 12.08sERRORodom_qos_relay.py-5process has died [pid 9148, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.52sINFOweb_bridge-29process has finished cleanly [pid 9306] ×2 + 13.52sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 13.75sINFOros2_control_node-8process has finished cleanly [pid 9151] ×2 + 15.56sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '10.0' seconds after receiving 'SIGTERM', escalating to 'SIGKILL' ×2 + 15.58sINFOcomponent_container_isolated-1sending signal 'SIGKILL' to process[component_container_isolated-1] ×2 + 15.59sERRORcomponent_container_isolated-1process has died [pid 9144, 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_559bzzo3 --params-file /tmp/launch_params_49kfwhku -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 | 12.8s | 54 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232936 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.232936 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162941 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.162941 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614977 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614977 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839007 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839007 ms (missed cycles : 2).[0m ×2 + 3.15sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.15sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.18sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782150589.19945335 seconds ×3 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.74sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782150589.76067638 seconds. ×3 + 3.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.10sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185931 ms (missed cycles : 4). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185931 ms (missed cycles : 4).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283527 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283527 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.332545 ms (missed cycles : 6). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.332545 ms (missed cycles : 6).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176492 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.176492 ms (missed cycles : 5).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649691 ms (missed cycles : 4). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649691 ms (missed cycles : 4).[0m ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×4 + 8.34sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.48sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (6.4e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.94sINFOobjective_server_nodeFound path in 69 iterations (0.0508847 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159389 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159389 ms (missed cycles : 4).[0m ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.92sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730168 ms (missed cycles : 5). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730168 ms (missed cycles : 5).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228192 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228192 ms (missed cycles : 2).[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7).[0m ×2 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2).[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4).[0m ×2 + 15.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782150601.98759413 seconds ×3 + 16.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782150602.57370019 seconds. ×3 + 16.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.55sINFOmove_groupClearing octomap...[0m ×2 + 16.55sINFOmove_groupOctomap cleared.[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6).[0m ×2 + 17.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782150603.19944978 seconds ×3 + 17.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782150603.75515437 seconds. ×3 + 17.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4).[0m ×2 + 18.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782150604.17658734 seconds ×3 + 18.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945920 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945920 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294051 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.294051 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709832 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709832 ms (missed cycles : 2).[0m ×2 + 3.05sINFOjoint_trajectory_controllerGoal reached, success! + 3.05sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782150450.38545299 seconds ×3 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.925108 ms (missed cycles : 7). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.925108 ms (missed cycles : 7).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782150450.93551874 seconds. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (8.6e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.671098 ms (missed cycles : 8). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.671098 ms (missed cycles : 8).[0m ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311101 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.311101 ms (missed cycles : 3).[0m ×2 + 5.31sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.31sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.31sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.31sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136384 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136384 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780079 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780079 ms (missed cycles : 2).[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137794 ms (missed cycles : 6). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137794 ms (missed cycles : 6).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496841 ms (missed cycles : 6). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.496841 ms (missed cycles : 6).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874839 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874839 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078717 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078717 ms (missed cycles : 2).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826719 ms (missed cycles : 7). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.826719 ms (missed cycles : 7).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721042 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721042 ms (missed cycles : 2).[0m ×2 + 13.84sINFOjoint_trajectory_controllerGot request to cancel goal + 13.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.84sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.86sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782150461.14167523 seconds ×3 + 14.41sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782150461.69294858 seconds. ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501898 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501898 ms (missed cycles : 3).[0m ×2 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131667 ms (missed cycles : 4). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131667 ms (missed cycles : 4).[0m ×2 + 16.03sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.46sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.42sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510644 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510644 ms (missed cycles : 5).[0m ×2 + 8.08sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782150365.37370324 seconds ×3 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239407 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239407 ms (missed cycles : 2).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166819 ms (missed cycles : 6). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166819 ms (missed cycles : 6).[0m ×2 + 9.64sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782150366.93320251 seconds. ×3 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309010 ms (missed cycles : 2). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309010 ms (missed cycles : 2).[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776827 ms (missed cycles : 6). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.776827 ms (missed cycles : 6).[0m ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.33sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.33sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.33sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2).[0m ×2 + 7.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782150303.52542090 seconds ×3 + 7.99sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782150304.07681274 seconds. ×3 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5).[0m ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782150601.98759413 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782150602.57370019 seconds. ×3 + 4.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.08sINFOmove_groupClearing octomap...[0m ×2 + 4.08sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782150603.19944978 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782150603.75515437 seconds. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782150604.17658734 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787983 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787983 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871226 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871226 ms (missed cycles : 2).[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 2.680651 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 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 2.680651 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680651 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.141587 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133539 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095417 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 5.31sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 5.31sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.33sINFOjoint_trajectory_controllerReceived new action goal + 5.33sINFOjoint_trajectory_controllerAccepted new action goal + 5.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782150299.87760925 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884384 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782150300.42424488 seconds. ×3 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875923 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeFound path in 0 iterations (5.7372e-05 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014373 ms (missed cycles : 3).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083987 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782150303.52542090 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782150304.07681274 seconds. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946553 ms (missed cycles : 3).[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029198 ms (missed cycles : 5).[0m ×2 + 6.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[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 2.621194 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782150397.20339155 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782150397.75528932 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2).[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 2.621194 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782150397.20339155 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782150397.75528932 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2).[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 2.621194 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621194 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778294 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441920 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914742 ms (missed cycles : 2).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.84sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782150397.20339155 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064189 ms (missed cycles : 2).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782150397.75528932 seconds. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012853 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.02sINFOjoint_trajectory_controllerReceived new action goal + 6.02sINFOjoint_trajectory_controllerAccepted new action goal + 6.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029242 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832115 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.853165 ms (missed cycles : 7).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089875 ms (missed cycles : 2).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469196 ms (missed cycles : 4).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782150601.98759413 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782150602.57370019 seconds. ×3 + 4.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.08sINFOmove_groupClearing octomap...[0m ×2 + 4.08sINFOmove_groupOctomap cleared.[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.293698 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782150603.19944978 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782150603.75515437 seconds. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047506 ms (missed cycles : 4).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782150604.17658734 seconds ×3 + 5.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 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 2.979054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979054 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.176091 ms (missed cycles : 6).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229678 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692599 ms (missed cycles : 3).[0m ×2 + 3.46sINFOjoint_trajectory_controllerGoal reached, success! + 3.46sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.49sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782150360.77706385 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782150361.34355140 seconds. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.279452 ms (missed cycles : 5).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.42sINFOjoint_trajectory_controllerReceived new action goal + 4.42sINFOjoint_trajectory_controllerAccepted new action goal + 4.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990105 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140056 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.348801 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730375 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133529 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238454 ms (missed cycles : 2).[0m ×2 + 3.86sINFOjoint_trajectory_controllerGoal reached, success! + 3.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782150533.75313067 seconds ×3 + 3.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900725 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782150534.31207967 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.221959 ms (missed cycles : 6).[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.722687 ms (missed cycles : 3).[0m ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.32sINFOjoint_trajectory_controllerReceived new action goal + 6.32sINFOjoint_trajectory_controllerAccepted new action goal + 6.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_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 · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_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 | 26.2s | 13 errors · 299 warnings · 1072 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/2026-06-22-17-43-48-159336-693448be959f-9095 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.86sINFOstatic_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' + 12.86sINFOstatic_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' + 12.86sINFOstatic_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' + 12.97sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.00sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.01sINFOcontroller_managerupdate rate is 600 Hz + 13.01sINFOcontroller_managerOverruns handling is : enabled + 13.01sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.01sWARNcontroller_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. + 13.06sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.10sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.10sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.12sINFOcontroller_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. + 13.13sINFOros2_control_node-8process started with pid [9151] ×2 + 13.13sINFOmove_group-20process started with pid [9240] ×2 + 13.13sINFOparameter_manager_node-21process started with pid [9241] ×2 + 13.13sINFOwaypoint_manager_node-22process started with pid [9242] ×2 + 13.13sINFOmove_joint_resampler_node-23process started with pid [9243] ×2 + 13.13sINFOmove_end_effector_resampler_node-24process started with pid [9301] ×2 + 13.13sINFOobjective_server_node_main-25process started with pid [9302] ×2 + 13.13sINFOcomponent_container_mt-26process started with pid [9303] ×2 + 13.13sINFOexecute_objective_bridge-27process started with pid [9304] ×2 + 13.13sINFOui_teleop_bridge-28process started with pid [9305] ×2 + 13.13sINFOweb_bridge-29process started with pid [9306] ×2 + 13.13sINFOtf2_web_republisher_node-30process started with pid [9308] ×2 + 13.13sINFOweb_video_server-31process started with pid [9310] ×2 + 13.14sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.14sINFOcomponent_container_isolated-1process started with pid [9144] ×2 + 13.14sINFOstatic_transform_publisher-2process started with pid [9145] ×2 + 13.14sINFOstatic_transform_publisher-3process started with pid [9146] ×2 + 13.14sINFOstatic_transform_publisher-4process started with pid [9147] ×2 + 13.14sINFOodom_qos_relay.py-5process started with pid [9148] ×2 + 13.14sINFOscan_to_scan_filter_chain-6process started with pid [9149] ×2 + 13.14sINFOscan_to_scan_filter_chain-7process started with pid [9150] ×2 + 13.14sINFOros2-9process started with pid [9229] ×2 + 13.14sINFOros2-10process started with pid [9230] ×2 + 13.14sINFOros2-11process started with pid [9231] ×2 + 13.14sINFOros2-12process started with pid [9232] ×2 + 13.14sINFOros2-13process started with pid [9233] ×2 + 13.14sINFOros2-14process started with pid [9234] ×2 + 13.14sINFOros2-15process started with pid [9235] ×2 + 13.14sINFOros2-16process started with pid [9236] ×2 + 13.14sINFOros2-17process started with pid [9237] ×2 + 13.14sINFOros2-18process started with pid [9238] ×2 + 13.14sINFOros2-19process started with pid [9239] ×2 + 13.16sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 13.16sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 13.16sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 13.16sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 13.16sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.17sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.17sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 13.17sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.17sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.17sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.17sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.17sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.17sWARNros2_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 + 13.17sINFOcontroller_serverCreating controller server + 13.20sINFOlocal_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. + 13.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.21sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.22sINFOlocal_costmap.local_costmapCreating Costmap + 13.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.31sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.32sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.32sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349926 ms (missed cycles : 6). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349926 ms (missed cycles : 6).[0m ×2 + 13.35sINFOmap_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. + 13.35sINFOmap_serverCreating + 13.35sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.35sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.36sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.37sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.40sINFOsmoother_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. + 13.42sINFOrobot_state_publisherRobot initialized + 13.42sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.42sINFOcontroller_managerReceived robot description from topic. + 13.43sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.44sINFOsmoother_serverCreating smoother server + 13.44sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.45sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.47sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.47sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.49sINFOlifecycle_manager_localizationCreating + 13.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.50sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.53sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.54sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.54sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.54sINFOmap_serverConfiguring + 13.57sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.58sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.59sINFOplanner_serverCreating + 13.64sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.64sINFOmap_serverActivating + 13.64sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.65sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.65sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.65sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.66sINFOglobal_costmap.global_costmapCreating Costmap + 13.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.70sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.74sINFObehavior_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. + 13.76sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.76sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.76sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.84sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.85sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.85sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.86sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.86sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.87sINFObt_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. + 13.87sWARNlaser_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. + 13.87sWARNlaser_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. + 13.88sWARNscan_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 + 13.93sINFObt_navigatorCreating + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.94sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.99sINFOwaypoint_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. + 14.00sINFOwaypoint_followerCreating + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.02sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.07sINFOvelocity_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. + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.10sINFOlifecycle_manager_navigationCreating + 14.11sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.14sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.14sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.14sINFOcontroller_serverConfiguring controller interface + 14.14sINFOcontroller_servergetting progress checker plugins.. + 14.14sINFOcontroller_servergetting goal checker plugins.. + 14.14sINFOcontroller_serverController frequency set to 20.0000Hz + 14.14sINFOlocal_costmap.local_costmapConfiguring + 14.14sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.17sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.20sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.377231 seconds + 14.20sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.20sINFOmove_groupLoaded robot model in 0.377231 seconds[0m ×2 + 14.20sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.20sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.20sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.25sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.25sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.26sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.31sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.33sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.33sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782444 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782444 ms (missed cycles : 2).[0m ×2 + 14.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.35sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.37sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.38sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.38sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.39sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.39sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.39sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.39sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.40sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.40sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.40sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.40sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.40sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.40sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.40sINFOcontroller_serverOptimizer reset + 14.42sINFOcontroller_serverController Server has FollowPath controllers available. + 14.43sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.43sINFOsmoother_serverConfiguring smoother server + 14.44sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.45sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.46sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.46sINFOplanner_serverConfiguring + 14.46sINFOglobal_costmap.global_costmapConfiguring + 14.48sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.48sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.49sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.49sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.49sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.54sINFOwaypoint_manager_nodeLoaded robot model in 0.282281 seconds[0m ×2 + 14.55sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.55sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.55sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.55sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.55sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.60sFATALplanner_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 + 14.60sINFOplanner_serverCleaning up + 14.60sINFOglobal_costmap.global_costmapCleaning up + 14.60sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.83sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.84sWARNmove_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. + 14.84sWARNmove_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. + 14.84sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 14.84sWARNmove_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 + 14.84sWARNmove_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. + 14.84sWARNmove_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 + 14.84sWARNmove_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. + 14.84sWARNmove_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. + 14.84sWARNmove_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. + 14.85sWARNmove_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. + 14.85sWARNmove_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. + 14.85sWARNmove_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 + 14.85sWARNmove_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 + 14.85sWARNmove_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. + 14.85sWARNmove_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. + 14.85sINFOros2waiting for service /controller_manager/list_controllers to become available... ×6 + 14.86sWARNmove_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 + 14.86sWARNmove_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 + 14.86sWARNmove_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 + 14.86sWARNmove_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 + 14.86sWARNmove_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 + 14.86sWARNmove_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 + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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 + 15.07sWARNwaypoint_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 + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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 + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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. + 15.07sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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. + 15.08sWARNwaypoint_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 + 15.08sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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. + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.09sWARNwaypoint_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 + 15.18sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.18sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.19sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.19sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.31sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.31sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.31sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.31sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.31sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.31sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.31sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.31sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.32sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.32sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.32sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.32sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.32sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.32sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.32sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.32sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.32sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.48sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.48sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.82sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.82sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.82sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.82sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.82sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.82sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.82sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.82sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.82sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.82sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.82sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.82sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.82sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.82sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.82sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.82sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.82sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.82sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.82sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.82sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.82sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.82sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.82sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.84sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.84sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.85sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.85sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.85sWARNros2_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 + 15.85sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 15.85sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 15.96sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 15.96sINFOros2Loaded joint_trajectory_controller ×2 + 15.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.97sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.97sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.97sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.97sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.97sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.97sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.98sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.98sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526953 ms (missed cycles : 3). + 16.21sINFOobjective_server_node[2026-06-22 17:44:07.533] [moveit_pro_license] [info] ×2 + 16.21sINFOobjective_server_node************************************************* ×4 + 16.21sINFOobjective_server_node* MoveIt Pro License ×2 + 16.21sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526953 ms (missed cycles : 3).[0m ×2 + 16.31sINFOobjective_server_nodeLoaded robot model in 0.0268931 seconds[0m ×2 + 16.31sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.32sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.34sINFOros2-15process has finished cleanly [pid 9235] ×2 + 16.36sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/load_controller to become available... + 16.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.36sINFOros2waiting for service /controller_manager/load_controller to become available... ×2 + 16.36sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.37sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 16.37sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 16.40sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 16.40sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.40sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.40sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.40sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.42sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.42sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.42sINFOplatform_velocity_controller_nav2configure successful + 16.42sINFOros2_control_nodeconfigure successful[0m ×6 + 16.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.43sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.68sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.68sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 16.68sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 16.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.68sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.68sWARNobjective_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. + 16.68sWARNobjective_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. + 16.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.68sWARNobjective_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 + 16.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.68sWARNobjective_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 + 16.69sWARNobjective_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. + 16.69sWARNobjective_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. + 16.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.69sWARNobjective_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. + 16.69sWARNobjective_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. + 16.69sWARNobjective_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 + 16.69sWARNobjective_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. + 16.69sWARNobjective_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. + 16.69sWARNobjective_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. + 16.69sWARNobjective_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. + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.69sWARNobjective_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 + 16.71sWARNcomponent_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 + 16.76sINFOros2-14process has finished cleanly [pid 9234] ×2 + 16.76sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 16.76sINFOros2Loaded platform_velocity_controller ×2 + 16.76sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.76sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.76sINFOplatform_velocity_controllerconfigure successful + 16.77sINFOobjective_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 + 16.77sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.77sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.77sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 16.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 16.78sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 16.78sINFOros2Configured and activated platform_velocity_controller ×2 + 16.79sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.79sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.87sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.87sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.11sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.13sINFOros2-12process has finished cleanly [pid 9232] ×2 + 17.15sINFOcomponent_container_mtLoaded robot model in 0.440167 seconds[0m ×2 + 17.15sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.15sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797756 ms (missed cycles : 4). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.797756 ms (missed cycles : 4).[0m ×2 + 17.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.38sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 17.38sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 17.41sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 17.41sINFOros2Loaded joint_state_broadcaster ×2 + 17.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.41sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 17.41sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 17.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.41sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 17.41sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 17.43sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.43sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.43sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 17.43sINFOros2Configured and activated joint_state_broadcaster ×2 + 17.50sWARNplanning_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. + 17.50sWARNplanning_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. + 17.50sWARNcomponent_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 + 17.50sWARNplanning_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. + 17.50sWARNplanning_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. + 17.50sWARNcomponent_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 + 17.50sWARNcomponent_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 + 17.50sWARNcomponent_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 + 17.50sWARNplanning_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. + 17.50sWARNplanning_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. + 17.50sWARNcomponent_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 + 17.50sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.51sWARNcomponent_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 + 17.51sWARNcomponent_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 + 17.51sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_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 + 17.52sWARNplanning_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. + 17.52sWARNcomponent_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 + 17.52sWARNplanning_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. + 17.52sWARNcomponent_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 + 17.52sWARNcomponent_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 + 17.52sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_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 + 17.52sWARNcomponent_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 + 17.52sWARNplanning_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. + 17.52sWARNplanning_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. + 17.52sWARNcomponent_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 + 17.52sWARNcomponent_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 + 17.75sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.75sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.76sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.76sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.76sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 17.76sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 17.78sINFOros2-11process has finished cleanly [pid 9231] ×2 + 17.83sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 17.83sINFOros2Loaded imu_sensor_broadcaster ×2 + 17.85sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.85sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.85sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.85sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.86sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 17.86sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 17.90sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.90sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.91sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.95sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 17.95sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.08sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.08sINFOmove_groupMoveGroup debug mode is ON + 18.08sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.14sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.15sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.19sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.19sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.19sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.20sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.24sINFOros2-10process has finished cleanly [pid 9230] ×2 + 18.24sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.24sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.24sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.25sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.25sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223713 ms (missed cycles : 2). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223713 ms (missed cycles : 2).[0m ×2 + 18.30sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.34sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 18.34sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 18.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.41sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.41sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.41sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.41sINFOstreaming_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) + 18.41sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.41sINFOcomponent_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 + 18.42sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 18.42sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 18.42sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.43sINFOmove_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
********************************************************
+ 18.43sINFOmove_group ×8 + 18.43sINFOmove_group******************************************************** ×4 + 18.43sINFOmove_group* MoveGroup using: ×2 + 18.43sINFOmove_group* - apply_planning_scene_service ×2 + 18.43sINFOmove_group* - clear_octomap_service ×2 + 18.43sINFOmove_group* - ExecuteTaskSolution ×2 + 18.43sINFOmove_group* - get_group_urdf ×2 + 18.43sINFOmove_group* - load_geometry_from_file ×2 + 18.43sINFOmove_group* - get_planning_scene_service ×2 + 18.43sINFOmove_group* - kinematics_service ×2 + 18.43sINFOmove_group* - save_geometry_to_file ×2 + 18.43sINFOmove_group* - GetPlanningGroups ×2 + 18.43sINFOmove_group* - SetActiveControllerService ×2 + 18.43sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.44sINFOmove_group[0m ×2 + 18.44sINFOmove_group[92mYou can start planning now![0m ×2 + 18.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.44sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.63sWARNobjective_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 + 18.84sINFOros2_control_node[2026-06-22 17:44:10.168] [info] Controller state will be published at 20 Hz. ×2 + 18.84sINFOros2_control_node[2026-06-22 17:44:10.169] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.17sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.17sINFOcontroller_managerLoading controller 'velocity_force_controller' + 19.17sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.17sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 19.22sINFOros2-19process has finished cleanly [pid 9239] ×2 + 19.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 19.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 19.34sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 19.34sINFOros2Loaded velocity_force_controller ×2 + 19.36sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.36sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.72sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.73sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 19.73sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.06sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.06sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.06sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.06sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.07sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 20.07sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 20.09sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.10sINFOros2-16process has finished cleanly [pid 9236] ×2 + 20.14sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 20.14sINFOros2Loaded vacuum_gripper ×2 + 20.15sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.15sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.15sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.15sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.15sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.15sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.16sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 20.16sINFOros2Configured and activated vacuum_gripper ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 20.51sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.51sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.51sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.51sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 20.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 20.53sINFOros2-13process has finished cleanly [pid 9233] ×2 + 20.58sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 20.58sINFOros2Loaded joint_velocity_controller ×2 + 20.58sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.58sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 20.95sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 20.95sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.30sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.30sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 21.30sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 21.30sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.30sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 21.31sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 21.32sINFOros2-18process has finished cleanly [pid 9238] ×2 + 21.38sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 21.38sINFOros2Loaded arm_only_velocity_force_controller ×2 + 21.38sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 21.38sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 21.77sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.77sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 21.77sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.14sINFOros2-17process has finished cleanly [pid 9237] ×2 + 22.18sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 22.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 22.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 22.22sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 22.22sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 22.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.25sINFOforce_torque_sensor_broadcasterconfigure successful + 22.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.26sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 22.26sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 22.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 22.69sINFOros2-9process has finished cleanly [pid 9229] ×2 + 22.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 22.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 22.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 22.98sINFOmove_groupClearing octomap...[0m ×2 + 22.98sINFOmove_groupOctomap cleared.[0m ×2 + 22.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 23.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 23.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 24.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 24.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 24.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 24.84sINFOobjective_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 + 24.84sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 24.84sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.85sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.85sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.85sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 24.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.87sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 24.87sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.88sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.88sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 25.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 25.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.45sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.45sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 25.86sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 233 info |
+ 0.00sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.01sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.01sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [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 + 0.38sINFOros2-16process has finished cleanly [pid 9236] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2Configured and activated vacuum_gripper ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.81sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.86sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.86sINFOros2Loaded joint_velocity_controller ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.22sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.58sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.58sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.58sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.58sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.58sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.60sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.65sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.65sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.05sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.05sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.42sINFOros2-17process has finished cleanly [pid 9237] ×2 + 2.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.46sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.50sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.52sINFOforce_torque_sensor_broadcasterconfigure successful + 2.53sINFOros2_control_nodeconfigure successful[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.53sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.53sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOros2-9process has finished cleanly [pid 9229] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal + 7.27sINFOjoint_trajectory_controllerAccepted new action goal + 7.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 250 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.54sWARNobjective_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 + 7.54sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 227 info |
+ 0.00sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.01sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.01sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.34sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [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 + 0.38sINFOros2-16process has finished cleanly [pid 9236] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.42sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.43sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.44sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.44sINFOros2Configured and activated vacuum_gripper ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.79sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.79sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.81sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.86sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.86sINFOros2Loaded joint_velocity_controller ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.88sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.88sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.22sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.22sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.58sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.58sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.58sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.58sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.58sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.58sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.60sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.65sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.65sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.66sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.04sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.05sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.05sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.42sINFOros2-17process has finished cleanly [pid 9237] ×2 + 2.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.46sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.50sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.50sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.52sINFOforce_torque_sensor_broadcasterconfigure successful + 2.53sINFOros2_control_nodeconfigure successful[0m ×2 + 2.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.53sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.53sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.97sINFOros2-9process has finished cleanly [pid 9229] ×2 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.12sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.12sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.12sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.12sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.12sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.13sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.77sWARNobjective_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 + 6.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 247 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.21sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.21sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.21sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.21sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.26sINFOros2-19process has finished cleanly [pid 9239] ×2 + 0.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2). + 0.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642433 ms (missed cycles : 2).[0m ×2 + 0.39sINFOros2Loaded velocity_force_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.42sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.047] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.052] [info] Controller state will be published at 10 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-22 17:44:11.055] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.14sINFOros2-16process has finished cleanly [pid 9236] ×2 + 1.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.19sINFOros2Loaded vacuum_gripper ×2 + 1.19sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.19sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.19sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.19sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.19sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.20sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.21sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.21sINFOros2Configured and activated vacuum_gripper ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.58sINFOros2-13process has finished cleanly [pid 9233] ×2 + 1.63sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.63sINFOros2Loaded joint_velocity_controller ×2 + 1.63sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.63sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 1.99sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.35sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.35sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 2.35sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 2.37sINFOros2-18process has finished cleanly [pid 9238] ×2 + 2.42sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.42sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 2.81sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.19sINFOros2-17process has finished cleanly [pid 9237] ×2 + 3.22sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.23sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 3.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 3.23sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 3.26sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 3.27sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 3.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.29sINFOforce_torque_sensor_broadcasterconfigure successful + 3.29sINFOros2_control_nodeconfigure successful[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.30sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.30sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 3.30sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.73sINFOros2-9process has finished cleanly [pid 9229] ×2 + 4.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.02sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.02sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.89sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 6.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 6.49sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 6.90sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_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 · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.435714 ms (missed cycles : 7). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.435714 ms (missed cycles : 7).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 198 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754251 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.14sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.16sINFOros2-13process has finished cleanly [pid 9233] ×2 + 0.21sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.21sINFOros2Loaded joint_velocity_controller ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.271] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-06-22 17:44:12.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.93sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.93sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.93sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 0.93sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.93sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 0.95sINFOros2-18process has finished cleanly [pid 9238] ×2 + 1.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.01sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.01sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289357 ms (missed cycles : 2).[0m ×2 + 1.39sINFOros2_control_node[2026-06-22 17:44:13.092] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.094] [info] Controller state will be published at 10 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-22 17:44:13.095] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOros2-17process has finished cleanly [pid 9237] ×2 + 1.81sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.81sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.81sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.81sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.81sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.81sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.82sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq + 1.82sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4ypi2ot4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_l5y82wh6 --params-file /tmp/launch_params_36yfg8eq [0m ×2 + 1.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 1.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 1.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.88sINFOforce_torque_sensor_broadcasterconfigure successful + 1.88sINFOros2_control_nodeconfigure successful[0m ×2 + 1.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 1.89sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007699 ms (missed cycles : 2).[0m ×2 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.32sINFOros2-9process has finished cleanly [pid 9229] ×2 + 2.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782150254.30380297 seconds. ×3 + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.61sINFOmove_groupClearing octomap...[0m ×2 + 2.61sINFOmove_groupOctomap cleared.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782150254.31402612 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167472 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782150254.87529635 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782150254.88542485 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782150255.43014336 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782150255.58071971 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.975136 ms (missed cycles : 5).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782150256.15540910 seconds. ×3 + 4.47sINFOobjective_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 + 4.47sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.50sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.51sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782150256.21558595 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782150256.76311040 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.657318 ms (missed cycles : 5).[0m ×2 + 5.49sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.12sWARNobjective_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 + 6.12sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976530 ms (missed cycles : 4).[0m ×2 + 6.62sINFOjoint_trajectory_controllerReceived new action goal + 6.62sINFOjoint_trajectory_controllerAccepted new action goal + 6.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||