67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 71.5s | 3 errors · 231 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862033 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862033 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.513449 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.513449 ms (missed cycles : 8).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013552 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013552 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGot request to cancel goal + 2.90sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 2.90sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.90sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782341669.84706473 seconds ×3 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123259 ms (missed cycles : 6). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123259 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782341670.39018154 seconds. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669480 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669480 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627037 ms (missed cycles : 7). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627037 ms (missed cycles : 7).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505094 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505094 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309541 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309541 ms (missed cycles : 4).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608666 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.608666 ms (missed cycles : 4).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638063 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.638063 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742198 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742198 ms (missed cycles : 2).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577080 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577080 ms (missed cycles : 3).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872070 ms (missed cycles : 3). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.872070 ms (missed cycles : 3).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751665 ms (missed cycles : 2). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751665 ms (missed cycles : 2).[0m ×2 + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798972 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.798972 ms (missed cycles : 2).[0m ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001445 ms (missed cycles : 2). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001445 ms (missed cycles : 2).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796950 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796950 ms (missed cycles : 3).[0m ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902787 ms (missed cycles : 2). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902787 ms (missed cycles : 2).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548101 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548101 ms (missed cycles : 2).[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383562 ms (missed cycles : 4). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383562 ms (missed cycles : 4).[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939517 ms (missed cycles : 4). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939517 ms (missed cycles : 4).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039633 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039633 ms (missed cycles : 2).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662988 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662988 ms (missed cycles : 3).[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362113 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362113 ms (missed cycles : 3).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335093 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335093 ms (missed cycles : 2).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114788 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114788 ms (missed cycles : 2).[0m ×2 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447842 ms (missed cycles : 2). + 27.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447842 ms (missed cycles : 2).[0m ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318507 ms (missed cycles : 4). + 28.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318507 ms (missed cycles : 4).[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248967 ms (missed cycles : 2). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248967 ms (missed cycles : 2).[0m ×2 + 31.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997850 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997850 ms (missed cycles : 2).[0m ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543885 ms (missed cycles : 4). + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543885 ms (missed cycles : 4).[0m ×2 + 32.06sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.06sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.49sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.13sWARNobjective_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 + 33.13sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927918 ms (missed cycles : 4). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.927918 ms (missed cycles : 4).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469829 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469829 ms (missed cycles : 2).[0m ×2 + 35.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514373 ms (missed cycles : 2). + 35.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514373 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330256 ms (missed cycles : 4). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330256 ms (missed cycles : 4).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348946 ms (missed cycles : 2). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348946 ms (missed cycles : 2).[0m ×2 + 38.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667837 ms (missed cycles : 3). + 38.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667837 ms (missed cycles : 3).[0m ×2 + 39.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799895 ms (missed cycles : 2). + 39.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799895 ms (missed cycles : 2).[0m ×2 + 39.96sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136609 ms (missed cycles : 2). + 40.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136609 ms (missed cycles : 2).[0m ×2 + 41.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.731997 ms (missed cycles : 6). + 41.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.731997 ms (missed cycles : 6).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118908 ms (missed cycles : 2). + 42.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118908 ms (missed cycles : 2).[0m ×2 + 43.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897127 ms (missed cycles : 2). + 43.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897127 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729362 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729362 ms (missed cycles : 3).[0m ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278580 ms (missed cycles : 2). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278580 ms (missed cycles : 2).[0m ×2 + 46.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397067 ms (missed cycles : 4). + 46.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397067 ms (missed cycles : 4).[0m ×2 + 47.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152467 ms (missed cycles : 2). + 47.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152467 ms (missed cycles : 2).[0m ×2 + 48.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041308 ms (missed cycles : 2). + 48.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041308 ms (missed cycles : 2).[0m ×2 + 49.63sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 49.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796915 ms (missed cycles : 3). + 49.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796915 ms (missed cycles : 3).[0m ×2 + 51.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336369 ms (missed cycles : 4). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.336369 ms (missed cycles : 4).[0m ×2 + 52.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226858 ms (missed cycles : 2). + 52.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.226858 ms (missed cycles : 2).[0m ×2 + 53.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824667 ms (missed cycles : 2). + 53.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824667 ms (missed cycles : 2).[0m ×2 + 54.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515412 ms (missed cycles : 3). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515412 ms (missed cycles : 3).[0m ×2 + 55.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789940 ms (missed cycles : 3). + 55.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789940 ms (missed cycles : 3).[0m ×2 + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090770 ms (missed cycles : 2). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090770 ms (missed cycles : 2).[0m ×2 + 57.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001642 ms (missed cycles : 2). + 57.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001642 ms (missed cycles : 2).[0m ×2 + 58.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163863 ms (missed cycles : 4). + 58.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.163863 ms (missed cycles : 4).[0m ×2 + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103276 ms (missed cycles : 4). + 59.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103276 ms (missed cycles : 4).[0m ×2 + 60.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907556 ms (missed cycles : 2). + 60.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907556 ms (missed cycles : 2).[0m ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182911 ms (missed cycles : 3). + 61.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.182911 ms (missed cycles : 3).[0m ×2 + 62.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709462 ms (missed cycles : 3). + 62.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709462 ms (missed cycles : 3).[0m ×2 + 62.92sINFOobjective_server_nodePlanning for 29 path waypoints. ×3 + 63.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014692 ms (missed cycles : 2). + 63.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014692 ms (missed cycles : 2).[0m ×2 + 64.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083262 ms (missed cycles : 2). + 64.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083262 ms (missed cycles : 2).[0m ×2 + 65.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712570 ms (missed cycles : 2). + 65.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712570 ms (missed cycles : 2).[0m ×2 + 67.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670401 ms (missed cycles : 3). + 67.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670401 ms (missed cycles : 3).[0m ×2 + 68.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143567 ms (missed cycles : 2). + 68.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143567 ms (missed cycles : 2).[0m ×2 + 69.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225888 ms (missed cycles : 2). + 69.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225888 ms (missed cycles : 2).[0m ×2 + 70.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894014 ms (missed cycles : 3). + 70.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894014 ms (missed cycles : 3).[0m ×2 + 71.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 71.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 72.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 72.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 73.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 73.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 74.44sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 74.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 74.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 75.01sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 75.38sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 75.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 75.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 76.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 76.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 77.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 77.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 183 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.36sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782341512.15250921 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782341512.69743657 seconds. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682848 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682848 ms (missed cycles : 3).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988306 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988306 ms (missed cycles : 3).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367066 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367066 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726851 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726851 ms (missed cycles : 3).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278368 ms (missed cycles : 4). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278368 ms (missed cycles : 4).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634565 ms (missed cycles : 6). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.634565 ms (missed cycles : 6).[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948720 ms (missed cycles : 5). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.948720 ms (missed cycles : 5).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814888 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814888 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517485 ms (missed cycles : 4). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517485 ms (missed cycles : 4).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882138 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882138 ms (missed cycles : 2).[0m ×2 + 18.18sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947258 ms (missed cycles : 2). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947258 ms (missed cycles : 2).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840843 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.840843 ms (missed cycles : 2).[0m ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085376 ms (missed cycles : 2). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085376 ms (missed cycles : 2).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930925 ms (missed cycles : 2). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930925 ms (missed cycles : 2).[0m ×2 + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726096 ms (missed cycles : 2). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726096 ms (missed cycles : 2).[0m ×2 + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739634 ms (missed cycles : 2). + 23.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739634 ms (missed cycles : 2).[0m ×2 + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698082 ms (missed cycles : 6). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698082 ms (missed cycles : 6).[0m ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517781 ms (missed cycles : 3). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517781 ms (missed cycles : 3).[0m ×2 + 26.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222852 ms (missed cycles : 5). + 26.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222852 ms (missed cycles : 5).[0m ×2 + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841324 ms (missed cycles : 3). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841324 ms (missed cycles : 3).[0m ×2 + 28.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021391 ms (missed cycles : 2). + 28.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021391 ms (missed cycles : 2).[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670941 ms (missed cycles : 6). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.670941 ms (missed cycles : 6).[0m ×2 + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170599 ms (missed cycles : 2). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170599 ms (missed cycles : 2).[0m ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228620 ms (missed cycles : 2). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228620 ms (missed cycles : 2).[0m ×2 + 33.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.835180 ms (missed cycles : 8). + 33.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.835180 ms (missed cycles : 8).[0m ×2 + 34.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294245 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294245 ms (missed cycles : 2).[0m ×2 + 34.69sWARNobjective_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 + 34.69sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758904 ms (missed cycles : 2). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758904 ms (missed cycles : 2).[0m ×2 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528420 ms (missed cycles : 3). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528420 ms (missed cycles : 3).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192439 ms (missed cycles : 2). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192439 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880032 ms (missed cycles : 2). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880032 ms (missed cycles : 2).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024719 ms (missed cycles : 4). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024719 ms (missed cycles : 4).[0m ×2 + 40.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686789 ms (missed cycles : 2). + 40.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686789 ms (missed cycles : 2).[0m ×2 + 41.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836650 ms (missed cycles : 2). + 41.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836650 ms (missed cycles : 2).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840516 ms (missed cycles : 3). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.840516 ms (missed cycles : 3).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414858 ms (missed cycles : 2). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414858 ms (missed cycles : 2).[0m ×2 + 45.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454339 ms (missed cycles : 2). + 45.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454339 ms (missed cycles : 2).[0m ×2 + 46.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679160 ms (missed cycles : 2). + 46.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679160 ms (missed cycles : 2).[0m ×2 + 47.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814009 ms (missed cycles : 4). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814009 ms (missed cycles : 4).[0m ×2 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371537 ms (missed cycles : 4). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371537 ms (missed cycles : 4).[0m ×2 + 49.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367671 ms (missed cycles : 2). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367671 ms (missed cycles : 2).[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842374 ms (missed cycles : 6). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.842374 ms (missed cycles : 6).[0m ×2 + 51.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746582 ms (missed cycles : 4). + 51.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746582 ms (missed cycles : 4).[0m ×2 + 52.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004902 ms (missed cycles : 2). + 52.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004902 ms (missed cycles : 2).[0m ×2 + 53.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788236 ms (missed cycles : 2). + 53.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788236 ms (missed cycles : 2).[0m ×2 + 54.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251440 ms (missed cycles : 2). + 54.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251440 ms (missed cycles : 2).[0m ×2 + 55.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446164 ms (missed cycles : 2). + 55.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446164 ms (missed cycles : 2).[0m ×2 + 56.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279790 ms (missed cycles : 2). + 56.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279790 ms (missed cycles : 2).[0m ×2 + 57.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 57.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 58.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 60.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 60.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 60.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 60.89sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 61.17sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 61.18sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 61.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 62.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 62.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.9s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.10sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.19sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.19sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271810 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271810 ms (missed cycles : 2).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900930 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.900930 ms (missed cycles : 3).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888536 ms (missed cycles : 3). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888536 ms (missed cycles : 3).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878227 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878227 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759153 ms (missed cycles : 4). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759153 ms (missed cycles : 4).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031182 ms (missed cycles : 4). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031182 ms (missed cycles : 4).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346565 ms (missed cycles : 4). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.346565 ms (missed cycles : 4).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062497 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.062497 ms (missed cycles : 4).[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202302 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202302 ms (missed cycles : 2).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172960 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172960 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232434 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232434 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105590 ms (missed cycles : 5). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105590 ms (missed cycles : 5).[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957563 ms (missed cycles : 2). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957563 ms (missed cycles : 2).[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279479 ms (missed cycles : 4). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.279479 ms (missed cycles : 4).[0m ×2 + 21.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811203 ms (missed cycles : 3). + 21.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811203 ms (missed cycles : 3).[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933634 ms (missed cycles : 3). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933634 ms (missed cycles : 3).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875094 ms (missed cycles : 3). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875094 ms (missed cycles : 3).[0m ×2 + 25.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402875 ms (missed cycles : 4). + 25.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.402875 ms (missed cycles : 4).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296900 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296900 ms (missed cycles : 3).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718406 ms (missed cycles : 4). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.718406 ms (missed cycles : 4).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420976 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420976 ms (missed cycles : 3).[0m ×2 + 28.62sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306008 ms (missed cycles : 2). + 29.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306008 ms (missed cycles : 2).[0m ×2 + 30.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810974 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810974 ms (missed cycles : 3).[0m ×2 + 31.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062154 ms (missed cycles : 5). + 31.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.062154 ms (missed cycles : 5).[0m ×2 + 32.39sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.39sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849885 ms (missed cycles : 2). + 32.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849885 ms (missed cycles : 2).[0m ×2 + 33.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984013 ms (missed cycles : 2). + 33.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984013 ms (missed cycles : 2).[0m ×2 + 34.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144152 ms (missed cycles : 2). + 34.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144152 ms (missed cycles : 2).[0m ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240032 ms (missed cycles : 4). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.240032 ms (missed cycles : 4).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419341 ms (missed cycles : 3). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419341 ms (missed cycles : 3).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259887 ms (missed cycles : 2). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259887 ms (missed cycles : 2).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016584 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016584 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853971 ms (missed cycles : 2). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853971 ms (missed cycles : 2).[0m ×2 + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184675 ms (missed cycles : 2). + 40.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184675 ms (missed cycles : 2).[0m ×2 + 41.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395992 ms (missed cycles : 3). + 41.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395992 ms (missed cycles : 3).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938279 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938279 ms (missed cycles : 2).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206102 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206102 ms (missed cycles : 2).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826859 ms (missed cycles : 5). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.826859 ms (missed cycles : 5).[0m ×2 + 46.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499323 ms (missed cycles : 4). + 46.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499323 ms (missed cycles : 4).[0m ×2 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583932 ms (missed cycles : 3). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583932 ms (missed cycles : 3).[0m ×2 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610875 ms (missed cycles : 2). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610875 ms (missed cycles : 2).[0m ×2 + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902851 ms (missed cycles : 5). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902851 ms (missed cycles : 5).[0m ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220719 ms (missed cycles : 2). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220719 ms (missed cycles : 2).[0m ×2 + 51.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011135 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.011135 ms (missed cycles : 2).[0m ×2 + 52.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732155 ms (missed cycles : 2). + 52.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732155 ms (missed cycles : 2).[0m ×2 + 53.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377264 ms (missed cycles : 4). + 53.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377264 ms (missed cycles : 4).[0m ×2 + 54.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716353 ms (missed cycles : 2). + 54.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716353 ms (missed cycles : 2).[0m ×2 + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687934 ms (missed cycles : 2). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687934 ms (missed cycles : 2).[0m ×2 + 56.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314873 ms (missed cycles : 2). + 56.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314873 ms (missed cycles : 2).[0m ×2 + 57.97sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782341796.22604394 seconds ×3 + 58.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367876 ms (missed cycles : 2). + 58.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367876 ms (missed cycles : 2).[0m ×2 + 58.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782341796.79879332 seconds. ×3 + 58.83sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 58.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700659 ms (missed cycles : 2). + 59.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700659 ms (missed cycles : 2).[0m ×2 + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496698 ms (missed cycles : 4). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496698 ms (missed cycles : 4).[0m ×2 + 61.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325615 ms (missed cycles : 2). + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325615 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.0s | 177 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782341605.21850562 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782341605.76817131 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.94sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.94sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101133 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101133 ms (missed cycles : 4).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795218 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.795218 ms (missed cycles : 5).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807031 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807031 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997000 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.997000 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307601 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307601 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190149 ms (missed cycles : 5). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.190149 ms (missed cycles : 5).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715221 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.715221 ms (missed cycles : 3).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131005 ms (missed cycles : 4). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131005 ms (missed cycles : 4).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377283 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377283 ms (missed cycles : 2).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031656 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031656 ms (missed cycles : 2).[0m ×2 + 18.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681018 ms (missed cycles : 4). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681018 ms (missed cycles : 4).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731552 ms (missed cycles : 2). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731552 ms (missed cycles : 2).[0m ×2 + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743715 ms (missed cycles : 3). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.743715 ms (missed cycles : 3).[0m ×2 + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701850 ms (missed cycles : 3). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701850 ms (missed cycles : 3).[0m ×2 + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152616 ms (missed cycles : 2). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152616 ms (missed cycles : 2).[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127370 ms (missed cycles : 4). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127370 ms (missed cycles : 4).[0m ×2 + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196175 ms (missed cycles : 2). + 24.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196175 ms (missed cycles : 2).[0m ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887583 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887583 ms (missed cycles : 2).[0m ×2 + 26.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962893 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.962893 ms (missed cycles : 2).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255378 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255378 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088100 ms (missed cycles : 3). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.088100 ms (missed cycles : 3).[0m ×2 + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704896 ms (missed cycles : 3). + 29.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704896 ms (missed cycles : 3).[0m ×2 + 30.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753510 ms (missed cycles : 2). + 30.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753510 ms (missed cycles : 2).[0m ×2 + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620544 ms (missed cycles : 4). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.620544 ms (missed cycles : 4).[0m ×2 + 32.67sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039178 ms (missed cycles : 2). + 32.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039178 ms (missed cycles : 2).[0m ×2 + 33.34sWARNobjective_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 + 33.34sINFOobjective_server_nodePlanning for 56 path waypoints. ×3 + 33.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730508 ms (missed cycles : 2). + 33.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730508 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623184 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623184 ms (missed cycles : 2).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903365 ms (missed cycles : 4). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.903365 ms (missed cycles : 4).[0m ×2 + 36.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335914 ms (missed cycles : 4). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.335914 ms (missed cycles : 4).[0m ×2 + 38.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613078 ms (missed cycles : 3). + 38.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613078 ms (missed cycles : 3).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495734 ms (missed cycles : 4). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.495734 ms (missed cycles : 4).[0m ×2 + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562110 ms (missed cycles : 2). + 40.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562110 ms (missed cycles : 2).[0m ×2 + 41.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627155 ms (missed cycles : 2). + 41.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627155 ms (missed cycles : 2).[0m ×2 + 42.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441400 ms (missed cycles : 2). + 42.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441400 ms (missed cycles : 2).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784146 ms (missed cycles : 2). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784146 ms (missed cycles : 2).[0m ×2 + 44.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260321 ms (missed cycles : 4). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260321 ms (missed cycles : 4).[0m ×2 + 44.78sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327570 ms (missed cycles : 4). + 45.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327570 ms (missed cycles : 4).[0m ×2 + 46.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474820 ms (missed cycles : 3). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474820 ms (missed cycles : 3).[0m ×2 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478033 ms (missed cycles : 4). + 47.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.478033 ms (missed cycles : 4).[0m ×2 + 48.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539964 ms (missed cycles : 3). + 48.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539964 ms (missed cycles : 3).[0m ×2 + 49.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980890 ms (missed cycles : 2). + 49.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980890 ms (missed cycles : 2).[0m ×2 + 50.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688769 ms (missed cycles : 2). + 50.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688769 ms (missed cycles : 2).[0m ×2 + 51.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653358 ms (missed cycles : 3). + 51.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653358 ms (missed cycles : 3).[0m ×2 + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487116 ms (missed cycles : 2). + 53.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487116 ms (missed cycles : 2).[0m ×2 + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786452 ms (missed cycles : 2). + 54.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786452 ms (missed cycles : 2).[0m ×2 + 55.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260672 ms (missed cycles : 2). + 55.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260672 ms (missed cycles : 2).[0m ×2 + 56.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670932 ms (missed cycles : 3). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670932 ms (missed cycles : 3).[0m ×2 + 57.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782341659.23832536 seconds ×3 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767873 ms (missed cycles : 5). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767873 ms (missed cycles : 5).[0m ×2 + 57.69sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782341659.78167963 seconds. ×3 + 57.99sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400685 ms (missed cycles : 4). + 58.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400685 ms (missed cycles : 4).[0m ×2 + 58.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616409 ms (missed cycles : 4). + 59.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616409 ms (missed cycles : 4).[0m ×2 + 60.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770962 ms (missed cycles : 2). + 60.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770962 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 153 warnings · 226 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2Loaded joint_state_broadcaster ×2 + 0.03sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.03sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.03sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.03sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.03sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.04sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.04sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.04sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.35sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.35sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [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 + 0.38sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.41sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.41sINFOros2Loaded vacuum_gripper ×2 + 0.41sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.41sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.41sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.41sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.41sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.42sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.42sINFOros2Configured and activated vacuum_gripper ×2 + 0.74sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.74sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.74sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.74sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.74sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.74sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.76sINFOros2-13process has finished cleanly [pid 9236] ×2 + 0.80sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.80sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.81sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.06sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.06sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.06sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.41sINFOros2-17process has finished cleanly [pid 9240] ×2 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.68sINFOmove_groupClearing octomap...[0m ×2 + 1.68sINFOmove_groupOctomap cleared.[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.57sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.57sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.57sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.17sWARNobjective_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 + 5.17sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.21sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052587 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052587 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315797 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315797 ms (missed cycles : 2).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302310 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302310 ms (missed cycles : 2).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349968 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.349968 ms (missed cycles : 3).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133521 ms (missed cycles : 5). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133521 ms (missed cycles : 5).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255601 ms (missed cycles : 4). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255601 ms (missed cycles : 4).[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805623 ms (missed cycles : 4). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805623 ms (missed cycles : 4).[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658047 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658047 ms (missed cycles : 2).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751687 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751687 ms (missed cycles : 2).[0m ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231748 ms (missed cycles : 4). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.231748 ms (missed cycles : 4).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023367 ms (missed cycles : 2). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023367 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026690 ms (missed cycles : 4). + 18.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026690 ms (missed cycles : 4).[0m ×2 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888572 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888572 ms (missed cycles : 3).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381308 ms (missed cycles : 4). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.381308 ms (missed cycles : 4).[0m ×2 + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584300 ms (missed cycles : 3). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584300 ms (missed cycles : 3).[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379369 ms (missed cycles : 3). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379369 ms (missed cycles : 3).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667420 ms (missed cycles : 2). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667420 ms (missed cycles : 2).[0m ×2 + 25.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410248 ms (missed cycles : 3). + 25.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410248 ms (missed cycles : 3).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159331 ms (missed cycles : 5). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159331 ms (missed cycles : 5).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340316 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340316 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705000 ms (missed cycles : 3). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705000 ms (missed cycles : 3).[0m ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239785 ms (missed cycles : 4). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239785 ms (missed cycles : 4).[0m ×2 + 30.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616522 ms (missed cycles : 2). + 30.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616522 ms (missed cycles : 2).[0m ×2 + 31.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144096 ms (missed cycles : 3). + 31.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144096 ms (missed cycles : 3).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399033 ms (missed cycles : 4). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399033 ms (missed cycles : 4).[0m ×2 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737102 ms (missed cycles : 2). + 33.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737102 ms (missed cycles : 2).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396853 ms (missed cycles : 2). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396853 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099170 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099170 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854198 ms (missed cycles : 2). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854198 ms (missed cycles : 2).[0m ×2 + 37.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889296 ms (missed cycles : 2). + 37.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889296 ms (missed cycles : 2).[0m ×2 + 38.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870470 ms (missed cycles : 5). + 38.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.870470 ms (missed cycles : 5).[0m ×2 + 39.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274950 ms (missed cycles : 2). + 39.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274950 ms (missed cycles : 2).[0m ×2 + 40.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025949 ms (missed cycles : 2). + 40.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025949 ms (missed cycles : 2).[0m ×2 + 42.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734154 ms (missed cycles : 2). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734154 ms (missed cycles : 2).[0m ×2 + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263670 ms (missed cycles : 2). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263670 ms (missed cycles : 2).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4).[0m ×2 + 45.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4). + 45.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4).[0m ×2 + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2).[0m ×2 + 47.04sINFOjoint_trajectory_controllerGoal reached, success! + 47.04sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 47.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 47.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 47.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 48.37sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 48.38sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.6s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835176 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835176 ms (missed cycles : 5).[0m ×2 + 2.06sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.06sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.11sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782341573.59332108 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882289 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882289 ms (missed cycles : 2).[0m ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799723 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799723 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782341575.13836074 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 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001243 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001243 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093811 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093811 ms (missed cycles : 4).[0m ×2 + 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 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412051 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412051 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426187 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.426187 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395385 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395385 ms (missed cycles : 3).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755680 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755680 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754119 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754119 ms (missed cycles : 3).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678711 ms (missed cycles : 3). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678711 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594404 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.594404 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079159 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079159 ms (missed cycles : 2).[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033628 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033628 ms (missed cycles : 2).[0m ×2 + 15.39sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803938 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803938 ms (missed cycles : 3).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114017 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114017 ms (missed cycles : 2).[0m ×2 + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704335 ms (missed cycles : 5). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704335 ms (missed cycles : 5).[0m ×2 + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997612 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997612 ms (missed cycles : 2).[0m ×2 + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279437 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279437 ms (missed cycles : 3).[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562355 ms (missed cycles : 5). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.562355 ms (missed cycles : 5).[0m ×2 + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877087 ms (missed cycles : 4). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877087 ms (missed cycles : 4).[0m ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.194988 ms (missed cycles : 7). + 23.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.194988 ms (missed cycles : 7).[0m ×2 + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726980 ms (missed cycles : 4). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726980 ms (missed cycles : 4).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220783 ms (missed cycles : 6). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.220783 ms (missed cycles : 6).[0m ×2 + 26.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950402 ms (missed cycles : 2). + 26.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950402 ms (missed cycles : 2).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476897 ms (missed cycles : 2). + 27.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476897 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222226 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222226 ms (missed cycles : 2).[0m ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256611 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256611 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2).[0m ×2 + 32.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2). + 32.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2).[0m ×2 + 33.73sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782341605.21850562 seconds ×3 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2).[0m ×2 + 34.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782341605.76817131 seconds. ×3 + 34.57sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4).[0m ×2 + 35.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5).[0m ×2 + 36.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2). + 36.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.3s | 54 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716353 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716353 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687934 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687934 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314873 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314873 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.08sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.12sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782341796.22604394 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367876 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367876 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782341796.79879332 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.01sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.01sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.01sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.01sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700659 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700659 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496698 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496698 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325615 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325615 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585685 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585685 ms (missed cycles : 3).[0m ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 0 iterations (1e-06 s). ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221724 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221724 ms (missed cycles : 2).[0m ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 8.68sINFOobjective_server_nodeFound path in 69 iterations (0.0410878 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 8.87sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806756 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806756 ms (missed cycles : 2).[0m ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.46sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847802 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847802 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307702 ms (missed cycles : 3). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307702 ms (missed cycles : 3).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513025 ms (missed cycles : 5). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513025 ms (missed cycles : 5).[0m ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782341808.56016493 seconds ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3).[0m ×2 + 16.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782341809.13587093 seconds. ×3 + 16.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.03sINFOmove_groupClearing octomap...[0m ×2 + 16.03sINFOmove_groupOctomap cleared.[0m ×2 + 16.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782341809.63600802 seconds ×3 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3).[0m ×2 + 17.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782341810.16900158 seconds. ×3 + 17.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782341810.68912697 seconds ×3 + 17.81sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 76 errors · 30 warnings · 379 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4).[0m ×2 + 1.88sINFOjoint_trajectory_controllerGoal reached, success! + 1.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 1.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782341808.56016493 seconds ×3 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3).[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782341809.13587093 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.49sINFOmove_groupClearing octomap...[0m ×2 + 2.49sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782341809.63600802 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782341810.16900158 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782341810.68912697 seconds ×3 + 4.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650655 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650655 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820060 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820060 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142348 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142348 ms (missed cycles : 4).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664388 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664388 ms (missed cycles : 3).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198183 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198183 ms (missed cycles : 4).[0m ×2 + 9.93sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.93sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 9.95sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.95sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 9.97sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.99sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.02sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.06sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.06sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 10.08sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 10.09sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.09sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.11sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 10.13sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 10.14sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 10.16sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 10.18sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.20sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 10.21sINFOweb_video_server-31process has finished cleanly [pid 9330] ×2 + 10.22sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 10.22sINFOcontroller_managerShutdown request received.... + 10.22sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.23sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9329] ×2 + 10.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.23sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.23sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.23sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.23sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.23sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.23sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.23sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.23sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.23sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.23sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.23sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.23sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.23sINFOcontroller_managerShutting down the controller manager. + 10.24sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.25sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.25sERRORmove_group-20process has died [pid 9243, 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_zo0kyw0p --params-file /tmp/launch_params_9_3hur0h --params-file /tmp/launch_params_xw_h7qdu --params-file /tmp/launch_params_me1y2cim --params-file /tmp/launch_params_wz7vykyu --params-file /tmp/launch_params_k_ji23xh --params-file /tmp/launch_params_4plbmq10 --params-file /tmp/launch_params_jt_ztgbi --params-file /tmp/launch_params_4dif8490']. ×2 + 10.27sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.28sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.30sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.31sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.33sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.33sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.33sINFOmap_serverDeactivating + 10.33sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.33sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.33sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.33sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.33sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.33sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.33sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.33sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.33sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.33sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.33sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.33sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.33sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.33sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.33sERRORmove_groupStack trace (most recent call last) in thread 9801: ×2 + 10.33sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.33sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3c9ac0a63, in __clone ×2 + 10.33sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3c9a33aa3, in ×2 + 10.33sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3c9cc5db3, in ×2 + 10.33sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fa3ca31a1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.33sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3ca0384d0, in rclcpp::Rate::sleep() ×2 + 10.33sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3c9f8ba88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.33sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fa3c9f50a71, in ×2 + 10.33sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3c9c94390, in __cxa_throw ×2 + 10.33sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3c9c7ea54, in std::terminate() ×2 + 10.33sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3c9c940d9, in ×2 + 10.33sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fa3c9c7eff4, in ×2 + 10.33sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3c99bf8fe, in abort ×2 + 10.33sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3c99dc27d, in raise ×2 + 10.33sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fa3c9a35b2c, in pthread_kill ×2 + 10.33sERRORmove_groupAborted (Signal sent by tkill() 9243 0) ×2 + 10.33sERRORobjective_server_node_main-25process has died [pid 9309, 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_osjgpfa9 --params-file /tmp/launch_params_t3lbh3um --params-file /tmp/launch_params_gf1o4wlj --params-file /tmp/launch_params_jzegcrzr --params-file /tmp/launch_params_el0iclxb --params-file /tmp/launch_params_fofd47zu --params-file /tmp/launch_params_1zwcdwzy --params-file /tmp/launch_params_fgl1qmfy --params-file /tmp/launch_params_30cmvt3g']. ×2 + 10.33sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 10.34sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.34sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.34sINFOmap_serverCleaning up + 10.34sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.34sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.34sINFOcontroller_serverCleaning up + 10.34sINFOlocal_costmap.local_costmapCleaning up + 10.34sINFOobjective_server_node[2026-06-24 22:56:56.877] [moveit_pro_license] [info] ×2 + 10.34sINFOobjective_server_node************************************************* ×4 + 10.34sINFOobjective_server_node* MoveIt Pro License ×2 + 10.34sINFOobjective_server_node* Application has successfully terminated ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.34sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.34sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.34sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.34sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.34sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.34sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.34sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.34sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.34sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.34sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.34sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.34sINFOodom_qos_relay.pymain() ×2 + 10.34sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.34sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.34sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.34sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.34sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.34sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.34sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.34sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.34sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.34sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ef5610a6a4, in _start ×2 + 10.34sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc323f928a, in __libc_start_main ×2 + 10.34sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc323f91d0, in ×2 + 10.34sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc32416bbd, in exit ×2 + 10.34sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdc32416a75, in ×2 + 10.34sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdc328e84a2, in spdlog::details::registry::~registry() ×2 + 10.34sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdc328f369d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.34sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdc328ed965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.34sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ef56111315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.34sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ef561105a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.34sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ef5610cb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.34sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55ef5610ad79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.34sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f8f454, in rclcpp::Node::~Node() ×2 + 10.35sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f4a515, in ×2 + 10.35sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f8dd20, in ×2 + 10.35sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f8dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.35sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f4a5d9, in ×2 + 10.35sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdc32f4f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.35sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fdbf1583120]) ×2 + 10.35sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×6 + 10.35sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.35sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.37sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.37sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.37sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.39sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.39sINFOsmoother_serverCleaning up + 10.40sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.40sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.40sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.40sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.40sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.40sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.40sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.40sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.40sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.40sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.40sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.40sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.44sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.44sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 10.44sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.85sERRORcomponent_container_isolated-1process has died [pid 9147, exit code -6, cmd '/opt/ros/jazzy/lib/rclcpp_components/component_container_isolated --ros-args --log-level info --ros-args -r __node:=nav2_container --params-file /tmp/launch_params_790q3szr --params-file /tmp/launch_params_48j7m_cz -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.17sERRORui_teleop_bridge-28process has died [pid 9312, 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_wkq2qn5g']. ×2 + 11.17sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9292] ×2 + 11.18sINFOexecute_objective_bridge-27process has finished cleanly [pid 9311] ×2 + 11.20sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9246] ×2 + 11.23sINFOparameter_manager_node-21process has finished cleanly [pid 9244] ×2 + 11.26sINFOwaypoint_manager_node-22process has finished cleanly [pid 9245] ×2 + 11.28sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9153] ×2 + 11.29sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9152] ×2 + 11.32sINFOstatic_transform_publisher-4process has finished cleanly [pid 9150] ×2 + 11.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 9149] ×2 + 11.35sINFOstatic_transform_publisher-2process has finished cleanly [pid 9148] ×2 + 11.36sERRORodom_qos_relay.py-5process has died [pid 9151, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.34sINFOcomponent_container_mt-26process has finished cleanly [pid 9310] ×2 + 12.95sINFOweb_bridge-29process has finished cleanly [pid 9328] ×2 + 12.95sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.98sINFOros2_control_node-8process has finished cleanly [pid 9154] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 48 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786452 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786452 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260672 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260672 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670932 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.670932 ms (missed cycles : 3).[0m ×2 + 2.98sINFOjoint_trajectory_controllerGoal reached, success! + 2.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782341659.23832536 seconds ×3 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767873 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767873 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782341659.78167963 seconds. ×3 + 3.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400685 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400685 ms (missed cycles : 4).[0m ×2 + 4.83sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616409 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616409 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770962 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770962 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880526 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880526 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042903 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042903 ms (missed cycles : 5).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193154 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.193154 ms (missed cycles : 2).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862033 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862033 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.513449 ms (missed cycles : 8). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.513449 ms (missed cycles : 8).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013552 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013552 ms (missed cycles : 3).[0m ×2 + 13.59sINFOjoint_trajectory_controllerGot request to cancel goal + 13.59sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.59sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.59sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782341669.84706473 seconds ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123259 ms (missed cycles : 6). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.123259 ms (missed cycles : 6).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782341670.39018154 seconds. ×3 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669480 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.669480 ms (missed cycles : 3).[0m ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627037 ms (missed cycles : 7). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.627037 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.64sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835176 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.835176 ms (missed cycles : 5).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782341573.59332108 seconds ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882289 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882289 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799723 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799723 ms (missed cycles : 3).[0m ×2 + 8.89sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782341575.13836074 seconds. ×3 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001243 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001243 ms (missed cycles : 2).[0m ×2 + 10.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093811 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.093811 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412051 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412051 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.4s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.22sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.22sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.22sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782341512.15250921 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782341512.69743657 seconds. ×3 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3).[0m ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513025 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513025 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782341808.56016493 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782341809.13587093 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782341809.63600802 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782341810.16900158 seconds. ×3 + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782341810.68912697 seconds ×3 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650655 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650655 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal + 3.64sINFOjoint_trajectory_controllerAccepted new action goal + 3.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[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 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.350903 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.359336 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088461 ms (missed cycles : 2).[0m ×2 + 2.86sINFOjoint_trajectory_controllerGoal reached, success! + 2.86sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.22sINFOjoint_trajectory_controllerReceived new action goal + 4.22sINFOjoint_trajectory_controllerAccepted new action goal + 4.22sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.22sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782341508.70367002 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.959601 ms (missed cycles : 3).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782341509.25237250 seconds. ×3 + 1.33sINFOobjective_server_nodeFound path in 0 iterations (2.0061e-05 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969129 ms (missed cycles : 3).[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293677 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782341512.15250921 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536092 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782341512.69743657 seconds. ×3 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933505 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122260 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488947 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal + 3.64sINFOjoint_trajectory_controllerAccepted new action goal + 3.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal + 3.64sINFOjoint_trajectory_controllerAccepted new action goal + 3.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal + 3.64sINFOjoint_trajectory_controllerAccepted new action goal + 3.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568162 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112234 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782341569.01756811 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969331 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782341569.57311130 seconds. ×3 + 3.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.64sINFOjoint_trajectory_controllerReceived new action goal + 3.64sINFOjoint_trajectory_controllerAccepted new action goal + 3.64sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.64sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.760080 ms (missed cycles : 5).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818927 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 4.731348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782341605.21850562 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782341605.76817131 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 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 4.731348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782341605.21850562 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782341605.76817131 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 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 4.731348 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731348 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212407 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.135811 ms (missed cycles : 2).[0m ×2 + 3.08sINFOjoint_trajectory_controllerGoal reached, success! + 3.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.12sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782341605.21850562 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.085606 ms (missed cycles : 2).[0m ×2 + 3.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782341605.76817131 seconds. ×3 + 3.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535726 ms (missed cycles : 4).[0m ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276213 ms (missed cycles : 5).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653801 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 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 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[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 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430174 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.156091 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787285 ms (missed cycles : 3).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGoal reached, success! + 3.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.10sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782341741.36032820 seconds ×3 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142102 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782341741.92587852 seconds. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143791 ms (missed cycles : 2).[0m ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.19sINFOjoint_trajectory_controllerReceived new action goal + 5.19sINFOjoint_trajectory_controllerAccepted new action goal + 5.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.19sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244358 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386596 ms (missed cycles : 4).[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 7.513025 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.513025 ms (missed cycles : 5).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610563 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418446 ms (missed cycles : 4).[0m ×2 + 2.94sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782341808.56016493 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497642 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782341809.13587093 seconds. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782341809.63600802 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913488 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782341810.16900158 seconds. ×3 + 5.10sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782341810.68912697 seconds ×3 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649891 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 20.1s | 15 errors · 299 warnings · 1067 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/2026-06-24-22-50-43-268524-973c8820d6c2-9098 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.42sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 8.42sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 8.42sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 8.49sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.51sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.53sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.54sINFOcontroller_managerupdate rate is 600 Hz + 8.54sINFOcontroller_managerOverruns handling is : enabled + 8.54sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.54sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 8.56sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.56sINFOmap_serverCreating + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360696 ms (missed cycles : 5). + 8.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.67sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.68sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.68sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.70sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.75sINFOcontroller_serverCreating controller server + 8.76sINFOros2_control_node-8process started with pid [9154] ×2 + 8.76sINFOmove_group-20process started with pid [9243] ×2 + 8.76sINFOparameter_manager_node-21process started with pid [9244] ×2 + 8.76sINFOwaypoint_manager_node-22process started with pid [9245] ×2 + 8.76sINFOmove_joint_resampler_node-23process started with pid [9246] ×2 + 8.76sINFOmove_end_effector_resampler_node-24process started with pid [9292] ×2 + 8.76sINFOobjective_server_node_main-25process started with pid [9309] ×2 + 8.76sINFOcomponent_container_mt-26process started with pid [9310] ×2 + 8.76sINFOexecute_objective_bridge-27process started with pid [9311] ×2 + 8.76sINFOui_teleop_bridge-28process started with pid [9312] ×2 + 8.76sINFOweb_bridge-29process started with pid [9328] ×2 + 8.76sINFOtf2_web_republisher_node-30process started with pid [9329] ×2 + 8.76sINFOweb_video_server-31process started with pid [9330] ×2 + 8.77sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.77sINFOcomponent_container_isolated-1process started with pid [9147] ×2 + 8.77sINFOstatic_transform_publisher-2process started with pid [9148] ×2 + 8.77sINFOstatic_transform_publisher-3process started with pid [9149] ×2 + 8.77sINFOstatic_transform_publisher-4process started with pid [9150] ×2 + 8.77sINFOodom_qos_relay.py-5process started with pid [9151] ×2 + 8.77sINFOscan_to_scan_filter_chain-6process started with pid [9152] ×2 + 8.77sINFOscan_to_scan_filter_chain-7process started with pid [9153] ×2 + 8.77sINFOros2-9process started with pid [9232] ×2 + 8.77sINFOros2-10process started with pid [9233] ×2 + 8.77sINFOros2-11process started with pid [9234] ×2 + 8.77sINFOros2-12process started with pid [9235] ×2 + 8.77sINFOros2-13process started with pid [9236] ×2 + 8.77sINFOros2-14process started with pid [9237] ×2 + 8.77sINFOros2-15process started with pid [9238] ×2 + 8.77sINFOros2-16process started with pid [9239] ×2 + 8.77sINFOros2-17process started with pid [9240] ×2 + 8.77sINFOros2-18process started with pid [9241] ×2 + 8.77sINFOros2-19process started with pid [9242] ×2 + 8.79sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.80sINFOlocal_costmap.local_costmapCreating Costmap + 8.81sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×6 + 8.81sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.81sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.81sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.81sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.81sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.82sINFOstatic_transform_publisherfrom 'map' to 'odom' ×2 + 8.82sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.82sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.82sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.82sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.82sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.82sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.360696 ms (missed cycles : 5).[0m ×2 + 8.85sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 8.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.91sINFOlifecycle_manager_localizationCreating + 8.93sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 8.93sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 8.94sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 8.94sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 8.94sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 8.94sINFOmap_serverConfiguring + 8.95sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.95sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.95sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.95sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 8.96sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 8.96sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.96sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 8.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.00sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.02sINFOsmoother_serverCreating smoother server + 9.02sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.02sINFOmap_serverActivating + 9.03sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.03sINFOrobot_state_publisherRobot initialized + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.03sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.03sINFOcontroller_managerReceived robot description from topic. + 9.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.04sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.04sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.06sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.06sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.07sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.08sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.08sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.10sINFOplanner_serverCreating + 9.13sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.13sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.13sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.13sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.13sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.13sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.14sINFOglobal_costmap.global_costmapCreating Costmap + 9.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.18sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.20sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.31sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.34sINFObt_navigatorCreating + 9.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.39sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.40sINFOwaypoint_followerCreating + 9.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.43sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.43sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.43sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.44sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.44sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.45sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.45sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 9.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.45sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.45sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.49sINFOlifecycle_manager_navigationCreating + 9.50sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.51sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.53sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.53sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.53sINFOcontroller_serverConfiguring controller interface + 9.53sINFOcontroller_servergetting progress checker plugins.. + 9.53sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.40501 seconds + 9.53sINFOcontroller_servergetting goal checker plugins.. + 9.53sINFOcontroller_serverController frequency set to 20.0000Hz + 9.53sINFOlocal_costmap.local_costmapConfiguring + 9.53sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.53sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.53sINFOmove_groupLoaded robot model in 0.40501 seconds[0m ×2 + 9.53sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.53sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.55sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.56sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.63sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.63sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.63sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.67sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.68sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.68sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317671 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317671 ms (missed cycles : 2).[0m ×2 + 9.69sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.69sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.70sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.71sINFOwaypoint_manager_nodeLoaded robot model in 0.336853 seconds[0m ×2 + 9.71sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 9.71sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.72sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.72sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.72sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.72sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.72sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.73sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.73sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.73sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.73sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.74sINFOcontroller_serverOptimizer reset + 9.76sINFOcontroller_serverController Server has FollowPath controllers available. + 9.78sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.78sINFOsmoother_serverConfiguring smoother server + 9.79sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.81sINFOplanner_serverConfiguring + 9.81sINFOglobal_costmap.global_costmapConfiguring + 9.81sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.83sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.83sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.83sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.83sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.85sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.85sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.86sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 9.90sFATALplanner_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 + 9.90sINFOplanner_serverCleaning up + 9.90sINFOglobal_costmap.global_costmapCleaning up + 9.90sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 9.95sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 9.95sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 10.04sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.04sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.04sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.04sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.05sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.06sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.07sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.08sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.09sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.16sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.16sINFOros2waiting for service /controller_manager/list_controllers to become available... ×6 + 10.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.38sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.38sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.39sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.39sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.40sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.41sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.42sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.43sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.44sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.45sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.53sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.53sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.56sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.56sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.56sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.56sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.56sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.56sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.56sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.57sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.57sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.57sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.57sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.57sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.57sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.57sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.57sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.80sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.80sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699205 ms (missed cycles : 2). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699205 ms (missed cycles : 2).[0m ×2 + 10.81sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.02sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.02sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.02sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.04sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.04sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.11sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.12sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.12sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.12sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.12sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.12sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.12sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.12sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.12sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.12sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.14sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.14sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.14sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 11.16sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 11.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 11.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 11.17sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.17sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.18sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 11.19sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 11.19sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 11.22sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 11.22sINFOros2Loaded platform_velocity_controller ×2 + 11.22sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 11.22sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 11.22sINFOplatform_velocity_controllerconfigure successful + 11.22sINFOros2_control_nodeconfigure successful[0m ×6 + 11.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 11.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 11.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.23sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 11.23sINFOros2Configured and activated platform_velocity_controller ×2 + 11.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 11.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 11.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 11.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 11.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 11.54sINFOcomponent_container_mtLoaded robot model in 0.358075 seconds[0m ×2 + 11.54sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 11.54sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.56sINFOros2-12process has finished cleanly [pid 9235] ×2 + 11.58sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 11.58sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 11.58sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 11.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 11.59sINFOforce_torque_sensor_broadcasterconfigure successful + 11.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 11.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 11.60sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 11.60sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 11.65sINFOobjective_server_node[2026-06-24 22:50:57.367] [moveit_pro_license] [info] ×2 + 11.65sINFOobjective_server_node************************************************* ×4 + 11.65sINFOobjective_server_node* MoveIt Pro License ×2 + 11.65sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.75sINFOobjective_server_nodeLoaded robot model in 0.0250685 seconds[0m ×2 + 11.75sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.75sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.79sWARNplanning_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. + 11.79sWARNplanning_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. + 11.79sWARNcomponent_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 + 11.79sWARNplanning_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. + 11.79sWARNplanning_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. + 11.79sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.80sWARNplanning_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. + 11.80sWARNcomponent_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 + 11.81sWARNplanning_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. + 11.81sWARNcomponent_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 + 11.81sWARNplanning_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. + 11.81sWARNplanning_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. + 11.81sWARNcomponent_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 + 11.81sWARNplanning_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. + 11.81sWARNcomponent_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 + 11.81sWARNcomponent_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 + 11.81sWARNcomponent_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 + 11.81sWARNcomponent_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 + 11.81sWARNcomponent_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 + 11.81sWARNcomponent_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 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117888 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117888 ms (missed cycles : 2).[0m ×2 + 11.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 11.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 11.98sINFOros2-9process has finished cleanly [pid 9232] ×2 + 12.02sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.02sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.02sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.03sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.04sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 12.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 12.08sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 12.08sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 12.10sINFOros2Loaded joint_velocity_controller ×2 + 12.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.11sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 12.14sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.14sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.15sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.27sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.27sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.29sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.33sINFOros2_control_node[2026-06-24 22:50:58.045] [info] Controller state will be published at 20 Hz. ×2 + 12.33sINFOros2_control_node[2026-06-24 22:50:58.046] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.47sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 12.47sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 12.47sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 12.48sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 12.48sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 12.48sINFOcomponent_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 + 12.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 12.63sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.63sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.66sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.69sINFOros2-18process has finished cleanly [pid 9241] ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782132 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782132 ms (missed cycles : 2).[0m ×2 + 12.92sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.92sINFOcontroller_managerLoading controller 'velocity_force_controller' + 12.92sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.92sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 12.97sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 12.97sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 12.99sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 12.99sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 13.02sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 13.02sINFOros2Loaded velocity_force_controller ×2 + 13.02sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.02sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.05sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.05sINFOmove_groupMoveGroup debug mode is ON + 13.05sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.05sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.09sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.10sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.15sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.15sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.15sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.26sINFOros2_control_node[2026-06-24 22:50:58.972] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.26sINFOros2_control_node[2026-06-24 22:50:58.975] [info] Controller state will be published at 10 Hz. ×2 + 13.26sINFOros2_control_node[2026-06-24 22:50:58.976] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.28sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 13.28sINFOmove_group ×8 + 13.28sINFOmove_group******************************************************** ×4 + 13.28sINFOmove_group* MoveGroup using: ×2 + 13.28sINFOmove_group* - apply_planning_scene_service ×2 + 13.28sINFOmove_group* - clear_octomap_service ×2 + 13.28sINFOmove_group* - ExecuteTaskSolution ×2 + 13.28sINFOmove_group* - get_group_urdf ×2 + 13.28sINFOmove_group* - load_geometry_from_file ×2 + 13.28sINFOmove_group* - get_planning_scene_service ×2 + 13.28sINFOmove_group* - kinematics_service ×2 + 13.28sINFOmove_group* - save_geometry_to_file ×2 + 13.28sINFOmove_group* - GetPlanningGroups ×2 + 13.28sINFOmove_group* - SetActiveControllerService ×2 + 13.28sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.28sINFOmove_group[0m ×2 + 13.29sINFOmove_group[92mYou can start planning now![0m ×2 + 13.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.60sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 13.60sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 13.66sINFOros2-16process has finished cleanly [pid 9239] ×2 + 13.69sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 13.69sINFOros2Loaded joint_trajectory_controller ×2 + 13.69sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 13.69sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 13.69sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 13.69sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 13.70sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 13.70sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 13.70sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 13.70sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 13.70sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 13.70sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 13.70sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 13.70sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 13.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 13.76sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 14.04sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.04sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.04sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.04sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.04sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 14.04sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 14.08sINFOros2-15process has finished cleanly [pid 9238] ×2 + 14.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 14.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 14.09sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.09sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.10sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.10sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.10sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 14.10sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 14.64sINFOros2-10process has finished cleanly [pid 9233] ×2 + 14.64sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 14.64sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 14.64sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 14.64sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 14.64sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 14.64sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 14.71sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 14.71sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 14.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 14.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 14.72sINFOplatform_velocity_controller_nav2configure successful + 15.08sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.08sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 15.08sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.08sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 15.08sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 15.08sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 15.11sINFOros2-14process has finished cleanly [pid 9237] ×2 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 15.13sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 15.13sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 15.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 15.13sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.40sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 15.40sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.67sINFOros2-19process has finished cleanly [pid 9242] ×2 + 15.68sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 15.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 15.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 15.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 15.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 15.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 15.95sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 15.95sINFOros2Loaded joint_state_broadcaster ×2 + 15.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 15.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 15.96sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 15.96sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 15.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 15.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 15.96sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 15.96sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 15.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 15.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 15.97sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 15.97sINFOros2Configured and activated joint_state_broadcaster ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 16.28sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 16.28sINFOcontroller_managerLoading controller 'vacuum_gripper' + 16.28sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 16.28sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 16.28sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 16.28sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 16.30sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 16.30sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 16.30sINFOros2-11process has finished cleanly [pid 9234] ×2 + 16.34sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 16.34sINFOros2Loaded vacuum_gripper ×2 + 16.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 16.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 16.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 16.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 16.34sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 16.34sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 16.35sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 16.35sINFOros2Configured and activated vacuum_gripper ×2 + 16.66sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.66sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.67sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.67sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.67sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 16.67sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 16.69sINFOros2-13process has finished cleanly [pid 9236] ×2 + 16.73sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 16.73sINFOros2Loaded arm_only_velocity_force_controller ×2 + 16.73sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.73sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.99sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.99sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 16.99sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 17.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 17.34sINFOros2-17process has finished cleanly [pid 9240] ×2 + 17.61sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 17.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.61sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.61sINFOmove_groupClearing octomap...[0m ×2 + 17.61sINFOmove_groupOctomap cleared.[0m ×2 + 17.62sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 18.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 18.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 18.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 18.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 19.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 19.46sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.46sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.46sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.46sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.46sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.46sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.46sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 19.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 19.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 19.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 20.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 20.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.06sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.06sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 33 warnings · 247 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.44sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.44sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.47sINFOros2-14process has finished cleanly [pid 9237] ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 0.50sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.50sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.76sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.04sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.32sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.32sINFOros2Loaded joint_state_broadcaster ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.32sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.32sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.32sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.32sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.33sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.33sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.64sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.64sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.64sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.65sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.66sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.67sINFOros2-11process has finished cleanly [pid 9234] ×2 + 1.70sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.70sINFOros2Loaded vacuum_gripper ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.71sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.71sINFOros2Configured and activated vacuum_gripper ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.05sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.09sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.09sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.09sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.36sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 2.70sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.83sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 6.46sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.69sINFOjoint_trajectory_controllerReceived new action goal + 6.69sINFOjoint_trajectory_controllerAccepted new action goal + 6.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 33 warnings · 273 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 7.14sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 7.14sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.19sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.37sINFOjoint_trajectory_controllerReceived new action goal + 7.37sINFOjoint_trajectory_controllerAccepted new action goal + 7.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.37sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-24-22-50-43-268524-973c8820d6c2-9098 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 30 warnings · 262 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865428 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.12sINFOros2-15process has finished cleanly [pid 9238] ×2 + 0.13sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.13sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.14sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.14sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.14sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.14sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.15sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.68sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.68sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.68sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.68sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.68sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.68sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.68sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.75sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.75sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.76sINFOplatform_velocity_controller_nav2configure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.12sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.12sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.12sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.12sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.12sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.12sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.15sINFOros2-14process has finished cleanly [pid 9237] ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 1.17sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.17sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.18sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.18sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 1.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.19sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 1.44sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.71sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.72sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.98sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.00sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.00sINFOros2Loaded joint_state_broadcaster ×2 + 2.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.00sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.00sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.00sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.01sINFOros2Configured and activated joint_state_broadcaster ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 2.32sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.32sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.32sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.32sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.34sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.35sINFOros2-11process has finished cleanly [pid 9234] ×2 + 2.38sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 2.38sINFOros2Loaded vacuum_gripper ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.38sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.38sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.38sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.38sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.38sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.39sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 2.39sINFOros2Configured and activated vacuum_gripper ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.71sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.73sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.77sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.77sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.77sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.77sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.03sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 3.04sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 3.38sINFOros2-17process has finished cleanly [pid 9240] ×2 + 3.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.65sINFOmove_groupClearing octomap...[0m ×2 + 3.66sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_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 + 5.50sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.50sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.51sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.51sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 6.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 30 warnings · 247 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 9233] ×2 + 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 0.00sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.07sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 0.07sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 0.07sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 0.08sINFOplatform_velocity_controller_nav2configure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.44sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.44sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.44sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.44sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.44sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.47sINFOros2-14process has finished cleanly [pid 9237] ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534132 ms (missed cycles : 3).[0m ×2 + 0.50sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.50sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.50sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.76sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.77sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.03sINFOros2-19process has finished cleanly [pid 9242] ×2 + 1.04sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.04sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.32sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.32sINFOros2Loaded joint_state_broadcaster ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.32sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.32sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.32sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.32sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.32sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.33sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.33sINFOros2Configured and activated joint_state_broadcaster ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.64sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.64sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.64sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.65sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.66sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.67sINFOros2-11process has finished cleanly [pid 9234] ×2 + 1.70sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.70sINFOros2Loaded vacuum_gripper ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.70sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.71sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.71sINFOros2Configured and activated vacuum_gripper ×2 + 2.03sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 2.03sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 2.05sINFOros2-13process has finished cleanly [pid 9236] ×2 + 2.09sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.09sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.09sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.09sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.35sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.36sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 2.36sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 2.70sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.98sINFOmove_groupClearing octomap...[0m ×2 + 2.98sINFOmove_groupOctomap cleared.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_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 + 4.82sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.83sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.83sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.86sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.86sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.86sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.87sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.87sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 6.46sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.46sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.69sINFOjoint_trajectory_controllerReceived new action goal + 6.69sINFOjoint_trajectory_controllerAccepted new action goal + 6.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.69sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_waypoint.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 33 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052587 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052587 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 30 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-24 22:51:01.113] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-24 22:51:01.117] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.27sINFOros2-19process has finished cleanly [pid 9242] ×2 + 0.28sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.28sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.53sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.53sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.54sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.56sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.56sINFOros2Loaded joint_state_broadcaster ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.56sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.56sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.56sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.56sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.56sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.57sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.57sINFOros2Configured and activated joint_state_broadcaster ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603358 ms (missed cycles : 3).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.88sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.88sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 0.88sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 0.90sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.91sINFOros2-11process has finished cleanly [pid 9234] ×2 + 0.94sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.94sINFOros2Loaded vacuum_gripper ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.94sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.95sINFOros2Configured and activated vacuum_gripper ×2 + 1.27sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.27sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.27sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.27sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl + 1.27sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rzfpkg8l --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q4hiwdud --params-file /tmp/launch_params_d8t1bnkl [0m ×2 + 1.29sINFOros2-13process has finished cleanly [pid 9236] ×2 + 1.33sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.33sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.35sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.35sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.704] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.707] [info] Controller state will be published at 10 Hz. ×2 + 1.59sINFOros2_control_node[2026-06-24 22:51:02.708] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974431 ms (missed cycles : 2).[0m ×2 + 1.94sINFOros2-17process has finished cleanly [pid 9240] ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782341463.32573819 seconds. ×3 + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.21sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.21sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782341463.33593249 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782341463.87478781 seconds. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782341463.89491296 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525227 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782341464.43242121 seconds. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782341464.58307719 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782341465.15075088 seconds. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047518 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_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 + 4.06sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.06sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.06sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.06sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.07sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.10sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.10sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.10sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.11sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782341465.22089362 seconds ×3 + 4.65sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782341465.76185346 seconds. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296213 ms (missed cycles : 2).[0m ×2 + 5.70sWARNobjective_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 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.74sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOjoint_trajectory_controllerReceived new action goal + 5.93sINFOjoint_trajectory_controllerAccepted new action goal + 5.93sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.93sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522172 ms (missed cycles : 3).[0m ×2 | ||||