67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.5s
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 | 71.4s | 3 errors · 231 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519882 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519882 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691290 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691290 ms (missed cycles : 2).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406625 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406625 ms (missed cycles : 4).[0m ×2 + 3.10sINFOjoint_trajectory_controllerGot request to cancel goal + 3.10sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782504324.40223861 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104895 ms (missed cycles : 5). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104895 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782504324.94743109 seconds. ×3 + 3.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855838 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855838 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×5 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×10 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791141 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791141 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000692 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000692 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778545 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778545 ms (missed cycles : 2).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521377 ms (missed cycles : 7). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.521377 ms (missed cycles : 7).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.997795 ms (missed cycles : 6). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.997795 ms (missed cycles : 6).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371908 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371908 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421595 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421595 ms (missed cycles : 2).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653146 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653146 ms (missed cycles : 3).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622941 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622941 ms (missed cycles : 3).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453761 ms (missed cycles : 5). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453761 ms (missed cycles : 5).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407137 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407137 ms (missed cycles : 2).[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090470 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090470 ms (missed cycles : 2).[0m ×2 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671964 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671964 ms (missed cycles : 3).[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996498 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996498 ms (missed cycles : 2).[0m ×2 + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249018 ms (missed cycles : 2). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249018 ms (missed cycles : 2).[0m ×2 + 21.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814571 ms (missed cycles : 5). + 21.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.814571 ms (missed cycles : 5).[0m ×2 + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142814 ms (missed cycles : 4). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142814 ms (missed cycles : 4).[0m ×2 + 23.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396785 ms (missed cycles : 2). + 23.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396785 ms (missed cycles : 2).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892093 ms (missed cycles : 2). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892093 ms (missed cycles : 2).[0m ×2 + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021616 ms (missed cycles : 2). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021616 ms (missed cycles : 2).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824733 ms (missed cycles : 4). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824733 ms (missed cycles : 4).[0m ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792129 ms (missed cycles : 3). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792129 ms (missed cycles : 3).[0m ×2 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671144 ms (missed cycles : 2). + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671144 ms (missed cycles : 2).[0m ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879706 ms (missed cycles : 3). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879706 ms (missed cycles : 3).[0m ×2 + 30.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.142557 ms (missed cycles : 7). + 30.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.142557 ms (missed cycles : 7).[0m ×2 + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457270 ms (missed cycles : 2). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457270 ms (missed cycles : 2).[0m ×2 + 32.23sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.23sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.60sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 32.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909775 ms (missed cycles : 3). + 32.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909775 ms (missed cycles : 3).[0m ×2 + 33.25sWARNobjective_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 + 33.25sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 33.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858293 ms (missed cycles : 2). + 33.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858293 ms (missed cycles : 2).[0m ×2 + 35.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491508 ms (missed cycles : 2). + 35.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491508 ms (missed cycles : 2).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033088 ms (missed cycles : 4). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.033088 ms (missed cycles : 4).[0m ×2 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803713 ms (missed cycles : 2). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.803713 ms (missed cycles : 2).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956563 ms (missed cycles : 4). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956563 ms (missed cycles : 4).[0m ×2 + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945586 ms (missed cycles : 2). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945586 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806009 ms (missed cycles : 2). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806009 ms (missed cycles : 2).[0m ×2 + 40.71sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141850 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141850 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191776 ms (missed cycles : 2). + 42.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191776 ms (missed cycles : 2).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641167 ms (missed cycles : 2). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641167 ms (missed cycles : 2).[0m ×2 + 44.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430883 ms (missed cycles : 4). + 44.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430883 ms (missed cycles : 4).[0m ×2 + 45.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999204 ms (missed cycles : 2). + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999204 ms (missed cycles : 2).[0m ×2 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128104 ms (missed cycles : 2). + 46.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128104 ms (missed cycles : 2).[0m ×2 + 47.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074878 ms (missed cycles : 4). + 47.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.074878 ms (missed cycles : 4).[0m ×2 + 48.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643388 ms (missed cycles : 3). + 48.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643388 ms (missed cycles : 3).[0m ×2 + 49.01sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 49.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060393 ms (missed cycles : 3). + 49.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060393 ms (missed cycles : 3).[0m ×2 + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351494 ms (missed cycles : 6). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.351494 ms (missed cycles : 6).[0m ×2 + 51.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807242 ms (missed cycles : 2). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807242 ms (missed cycles : 2).[0m ×2 + 52.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302564 ms (missed cycles : 2). + 52.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302564 ms (missed cycles : 2).[0m ×2 + 53.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669026 ms (missed cycles : 4). + 53.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669026 ms (missed cycles : 4).[0m ×2 + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026988 ms (missed cycles : 4). + 54.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.026988 ms (missed cycles : 4).[0m ×2 + 55.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864522 ms (missed cycles : 2). + 55.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.864522 ms (missed cycles : 2).[0m ×2 + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789719 ms (missed cycles : 4). + 56.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.789719 ms (missed cycles : 4).[0m ×2 + 57.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771070 ms (missed cycles : 3). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.771070 ms (missed cycles : 3).[0m ×2 + 59.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475666 ms (missed cycles : 4). + 59.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475666 ms (missed cycles : 4).[0m ×2 + 60.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686712 ms (missed cycles : 6). + 60.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686712 ms (missed cycles : 6).[0m ×2 + 61.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766652 ms (missed cycles : 2). + 61.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766652 ms (missed cycles : 2).[0m ×2 + 61.20sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 62.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869575 ms (missed cycles : 3). + 62.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869575 ms (missed cycles : 3).[0m ×2 + 63.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497197 ms (missed cycles : 4). + 63.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497197 ms (missed cycles : 4).[0m ×2 + 64.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688062 ms (missed cycles : 3). + 64.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688062 ms (missed cycles : 3).[0m ×2 + 65.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749068 ms (missed cycles : 4). + 65.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.749068 ms (missed cycles : 4).[0m ×2 + 66.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077789 ms (missed cycles : 5). + 66.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.077789 ms (missed cycles : 5).[0m ×2 + 67.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884379 ms (missed cycles : 2). + 67.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884379 ms (missed cycles : 2).[0m ×2 + 68.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180933 ms (missed cycles : 2). + 68.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180933 ms (missed cycles : 2).[0m ×2 + 69.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842958 ms (missed cycles : 2). + 69.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842958 ms (missed cycles : 2).[0m ×2 + 70.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927738 ms (missed cycles : 2). + 70.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927738 ms (missed cycles : 2).[0m ×2 + 71.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 71.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 72.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 73.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 74.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 75.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 75.07sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 75.39sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 76.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 76.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 77.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 77.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.3s | 183 warnings · 101 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 1.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.44sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.44sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.44sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.44sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782504167.96277738 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782504168.51371026 seconds. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×4 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679415 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679415 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720213 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720213 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539302 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539302 ms (missed cycles : 3).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561242 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.561242 ms (missed cycles : 4).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176742 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176742 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660969 ms (missed cycles : 3). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660969 ms (missed cycles : 3).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081699 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.081699 ms (missed cycles : 2).[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861093 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861093 ms (missed cycles : 3).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327716 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.327716 ms (missed cycles : 4).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055402 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055402 ms (missed cycles : 3).[0m ×2 + 17.57sINFOros2_control_nodeMuJoCo sim: 0.05% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581693 ms (missed cycles : 3). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581693 ms (missed cycles : 3).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757874 ms (missed cycles : 2). + 19.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757874 ms (missed cycles : 2).[0m ×2 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861866 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861866 ms (missed cycles : 2).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021709 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021709 ms (missed cycles : 2).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901088 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901088 ms (missed cycles : 3).[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550341 ms (missed cycles : 3). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550341 ms (missed cycles : 3).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803964 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803964 ms (missed cycles : 3).[0m ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918246 ms (missed cycles : 5). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918246 ms (missed cycles : 5).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378721 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378721 ms (missed cycles : 3).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103010 ms (missed cycles : 4). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103010 ms (missed cycles : 4).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821548 ms (missed cycles : 2). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821548 ms (missed cycles : 2).[0m ×2 + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985140 ms (missed cycles : 4). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985140 ms (missed cycles : 4).[0m ×2 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679728 ms (missed cycles : 3). + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679728 ms (missed cycles : 3).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012759 ms (missed cycles : 2). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012759 ms (missed cycles : 2).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271710 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.271710 ms (missed cycles : 2).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572003 ms (missed cycles : 4). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.572003 ms (missed cycles : 4).[0m ×2 + 34.31sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.31sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027650 ms (missed cycles : 8). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027650 ms (missed cycles : 8).[0m ×2 + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438292 ms (missed cycles : 4). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438292 ms (missed cycles : 4).[0m ×2 + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303880 ms (missed cycles : 2). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303880 ms (missed cycles : 2).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024749 ms (missed cycles : 2). + 38.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024749 ms (missed cycles : 2).[0m ×2 + 39.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360872 ms (missed cycles : 4). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360872 ms (missed cycles : 4).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435395 ms (missed cycles : 4). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435395 ms (missed cycles : 4).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974519 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974519 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885649 ms (missed cycles : 2). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885649 ms (missed cycles : 2).[0m ×2 + 43.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911869 ms (missed cycles : 2). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911869 ms (missed cycles : 2).[0m ×2 + 44.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059018 ms (missed cycles : 2). + 44.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059018 ms (missed cycles : 2).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881951 ms (missed cycles : 3). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881951 ms (missed cycles : 3).[0m ×2 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790902 ms (missed cycles : 3). + 46.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790902 ms (missed cycles : 3).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891999 ms (missed cycles : 2). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891999 ms (missed cycles : 2).[0m ×2 + 48.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656424 ms (missed cycles : 3). + 48.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656424 ms (missed cycles : 3).[0m ×2 + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323367 ms (missed cycles : 4). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.323367 ms (missed cycles : 4).[0m ×2 + 50.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874105 ms (missed cycles : 2). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874105 ms (missed cycles : 2).[0m ×2 + 51.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755803 ms (missed cycles : 4). + 51.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.755803 ms (missed cycles : 4).[0m ×2 + 52.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711694 ms (missed cycles : 3). + 52.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711694 ms (missed cycles : 3).[0m ×2 + 53.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229781 ms (missed cycles : 2). + 53.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229781 ms (missed cycles : 2).[0m ×2 + 54.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355934 ms (missed cycles : 4). + 54.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355934 ms (missed cycles : 4).[0m ×2 + 55.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092676 ms (missed cycles : 5). + 55.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092676 ms (missed cycles : 5).[0m ×2 + 56.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 56.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 58.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 58.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 59.86sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 60.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 60.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 62.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 62.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 63.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.1s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.68sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.79sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.79sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060807 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060807 ms (missed cycles : 5).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888787 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888787 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786990 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786990 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023810 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023810 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063307 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.063307 ms (missed cycles : 4).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737147 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737147 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687345 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687345 ms (missed cycles : 3).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223246 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223246 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055356 ms (missed cycles : 4). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055356 ms (missed cycles : 4).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051197 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051197 ms (missed cycles : 4).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009089 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009089 ms (missed cycles : 2).[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214859 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214859 ms (missed cycles : 2).[0m ×2 + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321820 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321820 ms (missed cycles : 2).[0m ×2 + 20.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100298 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100298 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510296 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510296 ms (missed cycles : 3).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842740 ms (missed cycles : 3). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842740 ms (missed cycles : 3).[0m ×2 + 23.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460477 ms (missed cycles : 4). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460477 ms (missed cycles : 4).[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200147 ms (missed cycles : 7). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200147 ms (missed cycles : 7).[0m ×2 + 25.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105368 ms (missed cycles : 5). + 25.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.105368 ms (missed cycles : 5).[0m ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148555 ms (missed cycles : 5). + 26.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148555 ms (missed cycles : 5).[0m ×2 + 27.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145645 ms (missed cycles : 3). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145645 ms (missed cycles : 3).[0m ×2 + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675641 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675641 ms (missed cycles : 3).[0m ×2 + 28.94sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128560 ms (missed cycles : 4). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128560 ms (missed cycles : 4).[0m ×2 + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827603 ms (missed cycles : 4). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827603 ms (missed cycles : 4).[0m ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041234 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041234 ms (missed cycles : 2).[0m ×2 + 32.06sWARNobjective_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 + 32.06sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213376 ms (missed cycles : 2). + 32.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213376 ms (missed cycles : 2).[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988846 ms (missed cycles : 3). + 33.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988846 ms (missed cycles : 3).[0m ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.948817 ms (missed cycles : 2).[0m ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772437 ms (missed cycles : 2). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772437 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504727 ms (missed cycles : 6). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504727 ms (missed cycles : 6).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169274 ms (missed cycles : 4). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.169274 ms (missed cycles : 4).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478902 ms (missed cycles : 4). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478902 ms (missed cycles : 4).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446394 ms (missed cycles : 4). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.446394 ms (missed cycles : 4).[0m ×2 + 41.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701681 ms (missed cycles : 3). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701681 ms (missed cycles : 3).[0m ×2 + 42.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997774 ms (missed cycles : 4). + 42.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.997774 ms (missed cycles : 4).[0m ×2 + 43.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717572 ms (missed cycles : 4). + 43.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.717572 ms (missed cycles : 4).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597106 ms (missed cycles : 4). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597106 ms (missed cycles : 4).[0m ×2 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956242 ms (missed cycles : 3). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956242 ms (missed cycles : 3).[0m ×2 + 46.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529270 ms (missed cycles : 2). + 46.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529270 ms (missed cycles : 2).[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941359 ms (missed cycles : 5). + 47.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941359 ms (missed cycles : 5).[0m ×2 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246407 ms (missed cycles : 2). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246407 ms (missed cycles : 2).[0m ×2 + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768396 ms (missed cycles : 2). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768396 ms (missed cycles : 2).[0m ×2 + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052011 ms (missed cycles : 2). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052011 ms (missed cycles : 2).[0m ×2 + 51.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985758 ms (missed cycles : 3). + 51.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985758 ms (missed cycles : 3).[0m ×2 + 52.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987356 ms (missed cycles : 6). + 52.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.987356 ms (missed cycles : 6).[0m ×2 + 53.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031532 ms (missed cycles : 5). + 53.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031532 ms (missed cycles : 5).[0m ×2 + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060527 ms (missed cycles : 3). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060527 ms (missed cycles : 3).[0m ×2 + 55.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3).[0m ×2 + 56.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210956 ms (missed cycles : 2). + 56.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210956 ms (missed cycles : 2).[0m ×2 + 57.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385632 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385632 ms (missed cycles : 2).[0m ×2 + 57.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782504450.95390892 seconds ×3 + 58.45sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782504451.51034951 seconds. ×3 + 58.72sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). ×2 + 58.74sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 58.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221422 ms (missed cycles : 5). + 58.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221422 ms (missed cycles : 5).[0m ×2 + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786111 ms (missed cycles : 3). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786111 ms (missed cycles : 3).[0m ×2 + 60.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074529 ms (missed cycles : 4). + 60.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074529 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.5s | 174 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782504260.28005219 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782504260.83783460 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.17sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.17sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366361 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366361 ms (missed cycles : 4).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310263 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.310263 ms (missed cycles : 4).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804133 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804133 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139785 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139785 ms (missed cycles : 4).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969977 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969977 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414105 ms (missed cycles : 4). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414105 ms (missed cycles : 4).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244565 ms (missed cycles : 5). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.244565 ms (missed cycles : 5).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239991 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239991 ms (missed cycles : 2).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736949 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736949 ms (missed cycles : 3).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830978 ms (missed cycles : 3). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830978 ms (missed cycles : 3).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384759 ms (missed cycles : 4). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384759 ms (missed cycles : 4).[0m ×2 + 19.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743002 ms (missed cycles : 5). + 19.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743002 ms (missed cycles : 5).[0m ×2 + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214040 ms (missed cycles : 2). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214040 ms (missed cycles : 2).[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521114 ms (missed cycles : 3). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521114 ms (missed cycles : 3).[0m ×2 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660762 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660762 ms (missed cycles : 2).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821613 ms (missed cycles : 3). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.821613 ms (missed cycles : 3).[0m ×2 + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060659 ms (missed cycles : 2). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060659 ms (missed cycles : 2).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089006 ms (missed cycles : 2). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089006 ms (missed cycles : 2).[0m ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748735 ms (missed cycles : 2). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748735 ms (missed cycles : 2).[0m ×2 + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801153 ms (missed cycles : 2). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.801153 ms (missed cycles : 2).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816913 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816913 ms (missed cycles : 4).[0m ×2 + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240216 ms (missed cycles : 4). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240216 ms (missed cycles : 4).[0m ×2 + 30.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714388 ms (missed cycles : 3). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714388 ms (missed cycles : 3).[0m ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963828 ms (missed cycles : 2). + 31.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963828 ms (missed cycles : 2).[0m ×2 + 32.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761281 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761281 ms (missed cycles : 3).[0m ×2 + 32.79sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.47sWARNobjective_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 + 33.47sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 33.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902097 ms (missed cycles : 3). + 33.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902097 ms (missed cycles : 3).[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437007 ms (missed cycles : 4). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.437007 ms (missed cycles : 4).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415539 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.415539 ms (missed cycles : 4).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690986 ms (missed cycles : 2). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690986 ms (missed cycles : 2).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234223 ms (missed cycles : 4). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.234223 ms (missed cycles : 4).[0m ×2 + 39.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710526 ms (missed cycles : 3). + 39.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710526 ms (missed cycles : 3).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464936 ms (missed cycles : 3). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464936 ms (missed cycles : 3).[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718429 ms (missed cycles : 2). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718429 ms (missed cycles : 2).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217686 ms (missed cycles : 5). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.217686 ms (missed cycles : 5).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511410 ms (missed cycles : 4). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511410 ms (missed cycles : 4).[0m ×2 + 44.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640942 ms (missed cycles : 4). + 44.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.640942 ms (missed cycles : 4).[0m ×2 + 45.01sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916895 ms (missed cycles : 3). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.916895 ms (missed cycles : 3).[0m ×2 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737288 ms (missed cycles : 6). + 46.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737288 ms (missed cycles : 6).[0m ×2 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409564 ms (missed cycles : 2). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409564 ms (missed cycles : 2).[0m ×2 + 48.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946854 ms (missed cycles : 3). + 48.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946854 ms (missed cycles : 3).[0m ×2 + 49.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846955 ms (missed cycles : 2). + 49.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846955 ms (missed cycles : 2).[0m ×2 + 50.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097168 ms (missed cycles : 3). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097168 ms (missed cycles : 3).[0m ×2 + 51.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653110 ms (missed cycles : 3). + 51.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653110 ms (missed cycles : 3).[0m ×2 + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053847 ms (missed cycles : 5). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.053847 ms (missed cycles : 5).[0m ×2 + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828811 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828811 ms (missed cycles : 2).[0m ×2 + 54.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329207 ms (missed cycles : 4). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329207 ms (missed cycles : 4).[0m ×2 + 56.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682823 ms (missed cycles : 3). + 56.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682823 ms (missed cycles : 3).[0m ×2 + 56.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782504313.80799007 seconds ×3 + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865990 ms (missed cycles : 3). + 57.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865990 ms (missed cycles : 3).[0m ×2 + 57.37sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782504314.35362363 seconds. ×3 + 57.67sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390491 ms (missed cycles : 4). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390491 ms (missed cycles : 4).[0m ×2 + 58.65sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804891 ms (missed cycles : 3). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804891 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 150 warnings · 204 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.03sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.06sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.07sINFOplatform_velocity_controllerconfigure successful + 0.07sINFOros2_control_nodeconfigure successful[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.07sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 0.61sINFOros2-12process has finished cleanly [pid 9228] ×2 + 0.65sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 0.65sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.91sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.92sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 0.93sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.93sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.93sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.93sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.94sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.95sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 0.95sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.26sINFOros2-13process has finished cleanly [pid 9229] ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.69sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.69sINFOmove_groupClearing octomap...[0m ×2 + 1.69sINFOmove_groupOctomap cleared.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.25sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.53sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 4.67sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[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 + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301902 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301902 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571723 ms (missed cycles : 4). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571723 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776356 ms (missed cycles : 5). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776356 ms (missed cycles : 5).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269800 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.269800 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127671 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127671 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629881 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629881 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494204 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.494204 ms (missed cycles : 4).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165806 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.165806 ms (missed cycles : 2).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836030 ms (missed cycles : 5). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836030 ms (missed cycles : 5).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665100 ms (missed cycles : 3). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.665100 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953807 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953807 ms (missed cycles : 2).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444175 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.444175 ms (missed cycles : 4).[0m ×2 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.991490 ms (missed cycles : 5).[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519940 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519940 ms (missed cycles : 3).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760002 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760002 ms (missed cycles : 2).[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432774 ms (missed cycles : 3). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432774 ms (missed cycles : 3).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839201 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839201 ms (missed cycles : 2).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513734 ms (missed cycles : 3). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.513734 ms (missed cycles : 3).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435680 ms (missed cycles : 4). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.435680 ms (missed cycles : 4).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424110 ms (missed cycles : 4). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424110 ms (missed cycles : 4).[0m ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008630 ms (missed cycles : 3). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008630 ms (missed cycles : 3).[0m ×2 + 29.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392527 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392527 ms (missed cycles : 2).[0m ×2 + 30.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684310 ms (missed cycles : 2). + 30.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684310 ms (missed cycles : 2).[0m ×2 + 31.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999369 ms (missed cycles : 2). + 31.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999369 ms (missed cycles : 2).[0m ×2 + 32.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955112 ms (missed cycles : 3). + 32.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955112 ms (missed cycles : 3).[0m ×2 + 33.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047130 ms (missed cycles : 2). + 33.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047130 ms (missed cycles : 2).[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696514 ms (missed cycles : 3). + 34.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696514 ms (missed cycles : 3).[0m ×2 + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801957 ms (missed cycles : 3). + 35.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801957 ms (missed cycles : 3).[0m ×2 + 36.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684343 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684343 ms (missed cycles : 3).[0m ×2 + 37.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159744 ms (missed cycles : 3). + 37.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159744 ms (missed cycles : 3).[0m ×2 + 38.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779939 ms (missed cycles : 4). + 38.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779939 ms (missed cycles : 4).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350231 ms (missed cycles : 3). + 39.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350231 ms (missed cycles : 3).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773776 ms (missed cycles : 5). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773776 ms (missed cycles : 5).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789831 ms (missed cycles : 3). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789831 ms (missed cycles : 3).[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013721 ms (missed cycles : 5). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013721 ms (missed cycles : 5).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5).[0m ×2 + 45.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3). + 45.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2).[0m ×2 + 47.10sINFOjoint_trajectory_controllerGoal reached, success! + 47.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.12sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 47.66sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 48.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 48.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 48.52sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 48.52sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 50.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 108 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978442 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978442 ms (missed cycles : 2).[0m ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.35sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782504228.82437563 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742801 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742801 ms (missed cycles : 2).[0m ×2 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782504230.36990237 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250606 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250606 ms (missed cycles : 4).[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320179 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320179 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350156 ms (missed cycles : 5). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350156 ms (missed cycles : 5).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223541 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223541 ms (missed cycles : 4).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693960 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693960 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988697 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988697 ms (missed cycles : 3).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952474 ms (missed cycles : 4). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.952474 ms (missed cycles : 4).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092756 ms (missed cycles : 4). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092756 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307228 ms (missed cycles : 4). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307228 ms (missed cycles : 4).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133452 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133452 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211781 ms (missed cycles : 5). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211781 ms (missed cycles : 5).[0m ×2 + 15.52sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977479 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977479 ms (missed cycles : 3).[0m ×2 + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274150 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274150 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634661 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634661 ms (missed cycles : 3).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132012 ms (missed cycles : 5). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.132012 ms (missed cycles : 5).[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722504 ms (missed cycles : 2). + 19.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722504 ms (missed cycles : 2).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230486 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230486 ms (missed cycles : 2).[0m ×2 + 22.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325610 ms (missed cycles : 4). + 22.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325610 ms (missed cycles : 4).[0m ×2 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787758 ms (missed cycles : 2). + 23.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787758 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659787 ms (missed cycles : 3). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.659787 ms (missed cycles : 3).[0m ×2 + 25.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178358 ms (missed cycles : 2). + 25.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178358 ms (missed cycles : 2).[0m ×2 + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839892 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839892 ms (missed cycles : 2).[0m ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788167 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788167 ms (missed cycles : 2).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377521 ms (missed cycles : 4). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.377521 ms (missed cycles : 4).[0m ×2 + 29.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820780 ms (missed cycles : 3). + 29.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820780 ms (missed cycles : 3).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2).[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6).[0m ×2 + 33.81sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782504260.28005219 seconds ×3 + 34.37sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782504260.83783460 seconds. ×3 + 34.66sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2). + 34.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2).[0m ×2 + 35.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4). + 35.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4).[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 4.060527 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060527 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669006 ms (missed cycles : 3).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210956 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210956 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385632 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385632 ms (missed cycles : 2).[0m ×2 + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.14sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782504450.95390892 seconds ×3 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.70sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782504451.51034951 seconds. ×3 + 3.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (9.6e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221422 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.221422 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786111 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786111 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074529 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074529 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826056 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826056 ms (missed cycles : 2).[0m ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (1.07e-06 s). ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258567 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258567 ms (missed cycles : 4).[0m ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.61sINFOobjective_server_nodeFound path in 98 iterations (0.0472812 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716015 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.716015 ms (missed cycles : 4).[0m ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015669 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015669 ms (missed cycles : 3).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138466 ms (missed cycles : 4). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.138466 ms (missed cycles : 4).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146040 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146040 ms (missed cycles : 3).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3).[0m ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2).[0m ×2 + 15.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782504463.29183626 seconds ×3 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3).[0m ×2 + 16.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782504463.87625885 seconds. ×3 + 16.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.06sINFOmove_groupClearing octomap...[0m ×2 + 16.07sINFOmove_groupOctomap cleared.[0m ×2 + 16.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782504464.32642579 seconds ×3 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3).[0m ×2 + 17.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782504464.87706757 seconds. ×3 + 17.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782504465.25720119 seconds ×3 + 17.68sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 76 errors · 30 warnings · 377 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2).[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: 1782504463.29183626 seconds ×3 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782504463.87625885 seconds. ×3 + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.50sINFOmove_groupClearing octomap...[0m ×2 + 2.50sINFOmove_groupOctomap cleared.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782504464.32642579 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782504464.87706757 seconds. ×3 + 3.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782504465.25720119 seconds ×3 + 4.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5). + 4.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934457 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934457 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843823 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843823 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371103 ms (missed cycles : 3). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371103 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024935 ms (missed cycles : 5). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024935 ms (missed cycles : 5).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901713 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901713 ms (missed cycles : 3).[0m ×2 + 9.96sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.96sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.97sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.98sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.00sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORweb_video_server-31process has died [pid 9325, exit code -11, cmd '/opt/ros/jazzy/lib/web_video_server/web_video_server --ros-args --params-file /tmp/launch_params_tob_xciy']. ×2 + 10.00sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.00sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.01sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.02sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.03sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.04sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.05sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×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 + 10.09sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 10.10sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×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 + 10.17sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.17sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 10.19sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×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. + 10.22sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.22sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.22sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.22sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.22sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.22sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.22sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.22sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.22sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.22sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.22sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.22sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.22sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.22sINFOcontroller_managerShutting down the controller manager. + 10.23sINFOscan_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 9236, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_ym_2kh11 --params-file /tmp/launch_params_3lekdjm2 --params-file /tmp/launch_params_akx1_edj --params-file /tmp/launch_params_01j__gmf --params-file /tmp/launch_params_dwrdg8bo --params-file /tmp/launch_params_suztd5z9 --params-file /tmp/launch_params_kcrwv9y4 --params-file /tmp/launch_params_brnhc7v2 --params-file /tmp/launch_params_jh6ijtao']. ×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 + 10.29sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.30sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.32sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.32sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.32sINFOcontroller_serverCleaning up + 10.32sINFOlocal_costmap.local_costmapCleaning up + 10.32sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.32sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.32sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.32sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.32sINFOui_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 + 10.32sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.32sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.32sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.32sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.32sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.32sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.32sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.32sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.32sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.32sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.32sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.32sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.32sERRORmove_groupStack trace (most recent call last) in thread 9803: ×2 + 10.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e50194a63, in __clone ×2 + 10.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e50107aa3, in ×2 + 10.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e50399db3, in ×2 + 10.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6e509ee1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e5070c4d0, in rclcpp::Rate::sleep() ×2 + 10.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e5065fa88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6e50624a71, in ×2 + 10.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e50368390, in __cxa_throw ×2 + 10.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e50352a54, in std::terminate() ×2 + 10.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e503680d9, in ×2 + 10.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6e50352ff4, in ×2 + 10.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e500938fe, in abort ×2 + 10.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e500b027d, in raise ×2 + 10.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6e50109b2c, in pthread_kill ×2 + 10.32sERRORmove_groupAborted (Signal sent by tkill() 9236 0) ×2 + 10.32sINFOobjective_server_node[2026-06-26 20:07:51.594] [moveit_pro_license] [info] ×2 + 10.32sINFOobjective_server_node************************************************* ×4 + 10.33sINFOobjective_server_node* MoveIt Pro License ×2 + 10.33sINFOobjective_server_node* Application has successfully terminated ×2 + 10.33sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.33sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.33sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.33sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.33sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.33sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.33sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.33sERRORobjective_server_node_main-25process has died [pid 9302, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level info --ros-args --params-file /tmp/launch_params_645adkhv --params-file /tmp/launch_params_ev1o31ir --params-file /tmp/launch_params_pmk9js3a --params-file /tmp/launch_params_dp5oav5s --params-file /tmp/launch_params_cefkcpj5 --params-file /tmp/launch_params_n33g9i3y --params-file /tmp/launch_params_vpd2ky7v --params-file /tmp/launch_params_pw1mqkju --params-file /tmp/launch_params_sdy5f4tu']. ×2 + 10.33sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.33sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.33sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a9d79a06a4, in _start ×2 + 10.33sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6c4e34328a, in __libc_start_main ×2 + 10.33sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6c4e3431d0, in ×2 + 10.33sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6c4e360bbd, in exit ×2 + 10.33sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6c4e360a75, in ×2 + 10.33sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6c4e8324a2, in spdlog::details::registry::~registry() ×2 + 10.33sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6c4e83d69d, 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 + 10.33sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f6c4e837965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.33sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a9d79a7315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.33sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a9d79a65a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.33sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a9d79a2b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.33sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55a9d79a0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.33sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4eed9454, in rclcpp::Node::~Node() ×2 + 10.33sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4ee94515, in ×2 + 10.33sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4eed7d20, in ×2 + 10.33sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4eed7c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.33sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4ee945d9, in ×2 + 10.33sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6c4ee99161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.33sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f6bfd81d120]) ×2 + 10.33sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.33sINFOodom_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 + 10.33sINFOodom_qos_relay.pymain() ×2 + 10.33sINFOodom_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 + 10.33sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.33sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.33sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.33sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.33sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.33sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.33sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.33sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 10.34sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 10.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.36sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.36sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.36sINFOmap_serverDeactivating + 10.36sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.37sINFOmap_serverCleaning up + 10.37sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.37sINFOsmoother_serverCleaning up + 10.38sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.38sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.38sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.39sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.39sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.39sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.39sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.39sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.39sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.39sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.39sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.39sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.39sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.39sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 10.43sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.43sINFOros2_control_nodepublish_async_failures_ 4[0m ×4 + 10.85sERRORcomponent_container_isolated-1process has died [pid 9140, 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_u_f9s6er --params-file /tmp/launch_params_fyp92li6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.06sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9324] ×2 + 11.06sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.17sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9300] ×2 + 11.17sINFOexecute_objective_bridge-27process has finished cleanly [pid 9306] ×2 + 11.19sERRORui_teleop_bridge-28process has died [pid 9307, 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_oeck6s_m']. ×2 + 11.19sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9239] ×2 + 11.24sINFOparameter_manager_node-21process has finished cleanly [pid 9237] ×2 + 11.25sINFOwaypoint_manager_node-22process has finished cleanly [pid 9238] ×2 + 11.27sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9146] ×2 + 11.29sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9145] ×2 + 11.32sINFOstatic_transform_publisher-4process has finished cleanly [pid 9143] ×2 + 11.33sINFOstatic_transform_publisher-3process has finished cleanly [pid 9142] ×2 + 11.34sINFOstatic_transform_publisher-2process has finished cleanly [pid 9141] ×2 + 11.35sERRORodom_qos_relay.py-5process has died [pid 9144, 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 + 12.33sINFOcomponent_container_mt-26process has finished cleanly [pid 9303] ×2 + 12.79sINFOweb_bridge-29process has finished cleanly [pid 9308] ×2 + 12.79sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 12.99sINFOros2_control_node-8process has finished cleanly [pid 9147] ×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 1.828811 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828811 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329207 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.329207 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682823 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682823 ms (missed cycles : 3).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! + 2.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.89sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782504313.80799007 seconds ×3 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865990 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865990 ms (missed cycles : 3).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782504314.35362363 seconds. ×3 + 3.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390491 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390491 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.93sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.93sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.93sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.93sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804891 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804891 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990580 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990580 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.469119 ms (missed cycles : 7). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.469119 ms (missed cycles : 7).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186958 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186958 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.249269 ms (missed cycles : 6). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.249269 ms (missed cycles : 6).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519882 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519882 ms (missed cycles : 4).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691290 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691290 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406625 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.406625 ms (missed cycles : 4).[0m ×2 + 13.46sINFOjoint_trajectory_controllerGot request to cancel goal + 13.46sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782504324.40223861 seconds ×3 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104895 ms (missed cycles : 5). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.104895 ms (missed cycles : 5).[0m ×2 + 14.02sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782504324.94743109 seconds. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855838 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855838 ms (missed cycles : 3).[0m ×2 + 15.28sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791141 ms (missed cycles : 5). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.791141 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.92sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_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 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.85sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978442 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978442 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782504228.82437563 seconds ×3 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742801 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742801 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782504230.36990237 seconds. ×3 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250606 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.250606 ms (missed cycles : 4).[0m ×2 + 9.38sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320179 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.320179 ms (missed cycles : 4).[0m ×2 + 10.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350156 ms (missed cycles : 5). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.350156 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.80sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.80sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782504167.96277738 seconds ×3 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782504168.51371026 seconds. ×3 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3).[0m ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 21 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146040 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146040 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782504463.29183626 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782504463.87625885 seconds. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782504464.32642579 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782504464.87706757 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782504465.25720119 seconds ×3 + 5.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934457 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934457 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.236783 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999836 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859950 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358292 ms (missed cycles : 2).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.37sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOjoint_trajectory_controllerReceived new action goal + 4.80sINFOjoint_trajectory_controllerAccepted new action goal + 4.80sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.80sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 58 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782504164.42772841 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782504164.97264934 seconds. ×3 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512201 ms (missed cycles : 3).[0m ×2 + 1.42sINFOobjective_server_nodeFound path in 0 iterations (2.9361e-05 s). ×2 + 1.42sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.44sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.44sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.44sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.44sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325239 ms (missed cycles : 4).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.980542 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782504167.96277738 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.245012 ms (missed cycles : 7).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782504168.51371026 seconds. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995782 ms (missed cycles : 3).[0m ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801647 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864959 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717986 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372675 ms (missed cycles : 4).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.92sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782504224.27384663 seconds ×3 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172041 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782504224.82423019 seconds. ×3 + 3.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.85sINFOjoint_trajectory_controllerReceived new action goal + 3.85sINFOjoint_trajectory_controllerAccepted new action goal + 3.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494526 ms (missed cycles : 4).[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270877 ms (missed cycles : 4).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812457 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782504260.28005219 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782504260.83783460 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782504260.28005219 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782504260.83783460 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025223 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186574 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727190 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708326 ms (missed cycles : 6).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.30sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782504260.28005219 seconds ×3 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782504260.83783460 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652878 ms (missed cycles : 2).[0m ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651099 ms (missed cycles : 4).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.227345 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720921 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701464 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417087 ms (missed cycles : 4).[0m ×2 + 2.68sINFOjoint_trajectory_controllerGoal reached, success! + 2.68sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.74sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782504395.79763556 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269540 ms (missed cycles : 4).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782504396.35364103 seconds. ×3 + 3.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966896 ms (missed cycles : 3).[0m ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 4.79sINFOjoint_trajectory_controllerReceived new action goal + 4.79sINFOjoint_trajectory_controllerAccepted new action goal + 4.79sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.79sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.231198 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 4.146040 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146040 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710826 ms (missed cycles : 3).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712248 ms (missed cycles : 2).[0m ×2 + 2.88sINFOjoint_trajectory_controllerGoal reached, success! + 2.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782504463.29183626 seconds ×3 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501163 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782504463.87625885 seconds. ×3 + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.50sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.50sINFOmove_groupClearing octomap...[0m ×2 + 3.50sINFOmove_groupOctomap cleared.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782504464.32642579 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.960016 ms (missed cycles : 3).[0m ×2 + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782504464.87706757 seconds. ×3 + 4.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782504465.25720119 seconds ×3 + 5.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.003209 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 20.4s | 15 errors · 299 warnings · 1069 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/2026-06-26-20-01-38-599602-fccf5d53280a-9091 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.35sINFOstatic_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' + 8.35sINFOstatic_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' + 8.35sINFOstatic_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' + 8.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.43sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.46sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.46sINFOcontroller_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. + 8.48sINFOcontroller_managerupdate rate is 600 Hz + 8.48sINFOcontroller_managerOverruns handling is : enabled + 8.48sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.48sWARNcontroller_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. + 8.51sINFOcontroller_serverCreating controller server + 8.56sINFOlocal_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. + 8.56sINFOlocal_costmap.local_costmapCreating Costmap + 8.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438575 ms (missed cycles : 3). + 8.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.62sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.62sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.65sINFOros2_control_node-8process started with pid [9147] ×2 + 8.65sINFOmove_group-20process started with pid [9236] ×2 + 8.65sINFOparameter_manager_node-21process started with pid [9237] ×2 + 8.65sINFOwaypoint_manager_node-22process started with pid [9238] ×2 + 8.65sINFOmove_joint_resampler_node-23process started with pid [9239] ×2 + 8.65sINFOmove_end_effector_resampler_node-24process started with pid [9300] ×2 + 8.65sINFOobjective_server_node_main-25process started with pid [9302] ×2 + 8.65sINFOmap_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. + 8.65sINFOcomponent_container_mt-26process started with pid [9303] ×2 + 8.65sINFOmap_serverCreating + 8.65sINFOexecute_objective_bridge-27process started with pid [9306] ×2 + 8.65sINFOui_teleop_bridge-28process started with pid [9307] ×2 + 8.65sINFOweb_bridge-29process started with pid [9308] ×2 + 8.65sINFOtf2_web_republisher_node-30process started with pid [9324] ×2 + 8.65sINFOweb_video_server-31process started with pid [9325] ×2 + 8.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.67sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.67sINFOcomponent_container_isolated-1process started with pid [9140] ×2 + 8.67sINFOstatic_transform_publisher-2process started with pid [9141] ×2 + 8.67sINFOstatic_transform_publisher-3process started with pid [9142] ×2 + 8.67sINFOstatic_transform_publisher-4process started with pid [9143] ×2 + 8.67sINFOodom_qos_relay.py-5process started with pid [9144] ×2 + 8.67sINFOscan_to_scan_filter_chain-6process started with pid [9145] ×2 + 8.67sINFOscan_to_scan_filter_chain-7process started with pid [9146] ×2 + 8.67sINFOros2-9process started with pid [9225] ×2 + 8.67sINFOros2-10process started with pid [9226] ×2 + 8.67sINFOros2-11process started with pid [9227] ×2 + 8.67sINFOros2-12process started with pid [9228] ×2 + 8.67sINFOros2-13process started with pid [9229] ×2 + 8.67sINFOros2-14process started with pid [9230] ×2 + 8.67sINFOros2-15process started with pid [9231] ×2 + 8.67sINFOros2-16process started with pid [9232] ×2 + 8.67sINFOros2-17process started with pid [9233] ×2 + 8.67sINFOros2-18process started with pid [9234] ×2 + 8.67sINFOros2-19process started with pid [9235] ×2 + 8.70sINFOsmoother_serverCreating smoother server + 8.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 8.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 8.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 8.74sINFOlifecycle_manager_localizationCreating + 8.75sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 8.75sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 8.75sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 8.75sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 8.75sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 8.75sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 8.76sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 8.76sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.76sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.76sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.76sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.76sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.76sWARNros2_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 + 8.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 8.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.76sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 8.76sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 8.77sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 8.77sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 8.77sINFOmap_serverConfiguring + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438575 ms (missed cycles : 3).[0m ×2 + 8.77sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 8.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 8.80sINFOplanner_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. + 8.84sINFOplanner_serverCreating + 8.84sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 8.84sINFOmap_serverActivating + 8.84sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 8.84sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 8.85sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 8.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 8.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 8.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 8.89sINFOglobal_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. + 8.89sINFOglobal_costmap.global_costmapCreating Costmap + 8.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 8.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 8.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 8.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 8.95sINFOrobot_state_publisherRobot initialized + 8.95sINFOcontroller_managerReceived robot description from topic. + 8.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 8.96sINFOlifecycle_manager_localizationServer map_server connected with bond. + 8.96sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 8.96sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 8.96sINFOcomponent_container_mtRobot initialized[0m ×2 + 8.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 8.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 8.97sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 8.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 8.98sINFObehavior_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. + 9.01sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.01sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.03sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.03sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.03sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.03sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.06sINFObt_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. + 9.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.08sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.08sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.08sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.08sINFObt_navigatorCreating + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.09sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.13sINFOwaypoint_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. + 9.13sINFOwaypoint_followerCreating + 9.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.18sINFOvelocity_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. + 9.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.20sINFOlifecycle_manager_navigationCreating + 9.20sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.22sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.22sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.22sINFOcontroller_serverConfiguring controller interface + 9.22sINFOcontroller_servergetting progress checker plugins.. + 9.22sINFOcontroller_servergetting goal checker plugins.. + 9.22sINFOcontroller_serverController frequency set to 20.0000Hz + 9.22sINFOlocal_costmap.local_costmapConfiguring + 9.23sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.25sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.28sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.28sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.29sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.33sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.34sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.36sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.36sWARNlaser_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. + 9.36sWARNlaser_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. + 9.37sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.37sWARNscan_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.[0m ×4 + 9.37sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.39sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.39sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.39sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.40sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.40sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.40sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.360886 seconds + 9.40sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.40sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.40sINFOmove_groupLoaded robot model in 0.360886 seconds[0m ×2 + 9.40sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.40sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.41sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.41sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.41sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.41sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.41sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.41sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.41sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.42sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.42sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.42sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.42sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.42sINFOcontroller_serverOptimizer reset + 9.43sINFOcontroller_serverController Server has FollowPath controllers available. + 9.44sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.44sINFOsmoother_serverConfiguring smoother server + 9.46sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.46sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.47sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.47sINFOplanner_serverConfiguring + 9.47sINFOglobal_costmap.global_costmapConfiguring + 9.47sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.47sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.48sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.48sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.49sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.53sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.53sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.53sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 9.56sFATALplanner_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 + 9.56sINFOplanner_serverCleaning up + 9.56sINFOglobal_costmap.global_costmapCleaning up + 9.56sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 9.59sINFOwaypoint_manager_nodeLoaded robot model in 0.354954 seconds[0m ×2 + 9.59sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 9.59sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.61sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 9.61sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733434 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733434 ms (missed cycles : 2).[0m ×2 + 9.87sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.87sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 9.88sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.88sWARNmove_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 + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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 + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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 + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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. + 10.12sWARNwaypoint_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 + 10.12sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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. + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.13sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.14sWARNwaypoint_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 + 10.19sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.19sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×6 + 10.34sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.34sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.34sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.34sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.50sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.50sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.50sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.51sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.51sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.51sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.51sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.51sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.51sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.51sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.51sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.51sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.51sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.52sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.52sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.52sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.52sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.52sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.52sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.52sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.56sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.56sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.57sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 10.93sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 10.93sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 10.93sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 10.93sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 10.93sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 10.93sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 10.93sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 10.93sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 10.93sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 10.93sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 10.93sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 10.93sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 10.93sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 10.93sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 10.93sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 10.93sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 10.93sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 10.93sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 10.93sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 10.93sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 10.93sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 10.93sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 10.93sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 10.95sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 10.95sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 10.95sWARNros2_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 + 10.96sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 10.96sINFOcontroller_managerLoading controller 'velocity_force_controller' + 10.96sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 10.96sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 10.97sINFOobjective_server_node[2026-06-26 20:01:51.998] [moveit_pro_license] [info] ×2 + 10.97sINFOobjective_server_node************************************************* ×4 + 10.97sINFOobjective_server_node* MoveIt Pro License ×2 + 10.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.03sINFOobjective_server_nodeLoaded robot model in 0.016525 seconds[0m ×2 + 11.03sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.03sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 11.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 11.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 11.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 11.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 11.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 11.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.14sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.25sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.25sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.25sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.26sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759235 ms (missed cycles : 2). + 11.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759235 ms (missed cycles : 2).[0m ×2 + 11.30sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 11.30sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.32sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.37sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.37sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.39sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.40sINFOros2_control_node[2026-06-26 20:01:52.429] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 11.41sINFOros2_control_node[2026-06-26 20:01:52.433] [info] Controller state will be published at 10 Hz. ×2 + 11.41sINFOros2_control_node[2026-06-26 20:01:52.434] [info] VelocityForceController 'on_configure' succeeded. ×2 + 11.44sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 11.44sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 11.55sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.55sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.55sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.55sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.56sWARNcomponent_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 + 11.70sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.70sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.70sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.71sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 11.71sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 11.73sINFOros2-16process has finished cleanly [pid 9232] ×2 + 11.77sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.77sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.77sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.77sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.77sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 11.77sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 11.77sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.77sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 11.77sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 11.78sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.78sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.78sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.78sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.85sWARNobjective_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 + 11.94sINFOcomponent_container_mtLoaded robot model in 0.38355 seconds[0m ×2 + 11.94sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 11.94sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.08sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.08sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.08sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.08sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.08sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 12.09sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 12.15sINFOros2-11process has finished cleanly [pid 9227] ×2 + 12.15sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 12.15sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 12.15sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.15sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.16sINFOplatform_velocity_controller_nav2configure successful + 12.16sINFOros2_control_nodeconfigure successful[0m ×6 + 12.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.21sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.21sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.22sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320525 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320525 ms (missed cycles : 3).[0m ×2 + 12.55sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.56sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.57sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 12.60sINFOros2-14process has finished cleanly [pid 9230] ×2 + 12.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.71sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.82sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 12.82sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 12.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 12.82sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 12.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 12.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 12.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 12.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 12.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 12.89sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 12.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 12.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 12.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 12.90sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 12.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 12.90sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 12.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 12.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.90sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.90sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 12.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 12.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 12.91sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 12.91sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 12.91sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 12.91sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 12.92sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 12.92sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 12.92sINFOstreaming_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) + 12.92sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 12.92sINFOcomponent_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 + 12.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.01sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 13.01sINFOmove_groupMoveGroup debug mode is ON + 13.01sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 13.01sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 13.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 13.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.05sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.11sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.11sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.11sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.11sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.11sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.12sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.23sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.23sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 13.23sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.23sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 13.23sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 13.24sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 13.25sINFOmove_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
********************************************************
+ 13.25sINFOmove_group ×8 + 13.25sINFOmove_group******************************************************** ×4 + 13.25sINFOmove_group* MoveGroup using: ×2 + 13.25sINFOmove_group* - apply_planning_scene_service ×2 + 13.25sINFOmove_group* - clear_octomap_service ×2 + 13.25sINFOmove_group* - ExecuteTaskSolution ×2 + 13.25sINFOmove_group* - get_group_urdf ×2 + 13.25sINFOmove_group* - load_geometry_from_file ×2 + 13.25sINFOmove_group* - get_planning_scene_service ×2 + 13.25sINFOmove_group* - kinematics_service ×2 + 13.25sINFOmove_group* - save_geometry_to_file ×2 + 13.25sINFOmove_group* - GetPlanningGroups ×2 + 13.25sINFOmove_group* - SetActiveControllerService ×2 + 13.25sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.25sINFOmove_group[0m ×2 + 13.25sINFOmove_group[92mYou can start planning now![0m ×2 + 13.28sINFOros2-15process has finished cleanly [pid 9231] ×2 + 13.30sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.30sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.30sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.30sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296857 ms (missed cycles : 5). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.296857 ms (missed cycles : 5).[0m ×2 + 13.57sINFOros2_control_node[2026-06-26 20:01:54.591] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.57sINFOros2_control_node[2026-06-26 20:01:54.594] [info] Controller state will be published at 10 Hz. ×2 + 13.57sINFOros2_control_node[2026-06-26 20:01:54.595] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.90sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.90sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.90sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.90sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.90sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 13.90sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 13.92sINFOros2-17process has finished cleanly [pid 9233] ×2 + 13.96sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.96sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.96sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.97sINFOforce_torque_sensor_broadcasterconfigure successful + 13.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.98sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 14.28sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.28sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.28sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.28sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.28sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 14.28sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 14.32sINFOros2-9process has finished cleanly [pid 9225] ×2 + 14.34sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 14.34sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 14.34sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.34sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.34sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.34sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.35sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 14.35sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 14.88sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 14.88sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 14.88sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 14.88sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 14.88sINFOros2-10process has finished cleanly [pid 9226] ×2 + 14.95sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 14.95sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 15.01sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 15.01sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 15.01sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 15.01sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 15.27sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 15.27sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 15.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 15.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 15.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 15.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 15.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 15.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 15.64sINFOros2-19process has finished cleanly [pid 9235] ×2 + 15.66sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 15.66sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 15.68sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 15.68sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 15.96sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 15.96sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.29sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.29sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.29sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 16.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.29sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 16.32sINFOros2-18process has finished cleanly [pid 9234] ×2 + 16.35sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 16.35sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 16.35sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.35sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.35sINFOplatform_velocity_controllerconfigure successful + 16.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.36sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 16.36sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 16.90sINFOros2-12process has finished cleanly [pid 9228] ×2 + 16.94sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 17.19sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.19sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.19sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.19sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.20sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 17.20sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 17.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.22sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.22sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.22sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.22sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.22sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.22sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.22sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.23sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.23sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 17.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 17.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.54sINFOros2-13process has finished cleanly [pid 9229] ×2 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 17.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 17.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.98sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.98sINFOmove_groupClearing octomap...[0m ×2 + 17.98sINFOmove_groupOctomap cleared.[0m ×2 + 17.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 18.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 18.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 19.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 19.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 19.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 19.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.81sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.81sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.81sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 20.40sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 20.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.42sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.42sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 20.96sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 225 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.01sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.08sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.08sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.40sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.76sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.09sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.41sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.41sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.44sINFOros2-18process has finished cleanly [pid 9234] ×2 + 1.47sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.48sINFOplatform_velocity_controllerconfigure successful + 1.48sINFOros2_control_nodeconfigure successful[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.49sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.49sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.06sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.06sINFOros2waiting for service /controller_manager/list_controllers to become available...[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_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.33sWARNvacuum_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 + 2.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.34sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.36sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.36sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.5s | 27 warnings · 242 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.13sWARNobjective_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. ×3 + 7.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 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/2026-06-26-20-01-38-599602-fccf5d53280a-9091 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 225 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.01sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.08sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.08sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.13sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.40sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.40sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.72sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.72sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.72sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.76sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.09sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.09sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.41sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.41sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.41sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.41sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.44sINFOros2-18process has finished cleanly [pid 9234] ×2 + 1.47sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 1.47sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.47sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.48sINFOplatform_velocity_controllerconfigure successful + 1.48sINFOros2_control_nodeconfigure successful[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×5 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 1.49sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 1.49sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.02sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.06sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.06sINFOros2waiting for service /controller_manager/list_controllers to become available...[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_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.32sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.33sWARNvacuum_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 + 2.34sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.34sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.34sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.34sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.34sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.34sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.35sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.35sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.36sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.36sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.67sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.10sINFOmove_groupClearing octomap...[0m ×2 + 3.10sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 3.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.94sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.96sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.96sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.98sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 5.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 5.54sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.08sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.58sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.82sINFOjoint_trajectory_controllerReceived new action goal + 6.82sINFOjoint_trajectory_controllerAccepted new action goal + 6.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.82sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 233 info |
+ 0.00sINFOros2-9process has finished cleanly [pid 9225] ×2 + 0.01sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.01sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045091 ms (missed cycles : 4).[0m ×2 + 0.55sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.55sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.55sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.55sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.56sINFOros2-10process has finished cleanly [pid 9226] ×2 + 0.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.69sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 0.69sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.297] [info] Controller state will be published at 20 Hz. ×2 + 0.95sINFOros2_control_node[2026-06-26 20:01:56.298] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621498 ms (missed cycles : 3).[0m ×2 + 1.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.31sINFOros2-19process has finished cleanly [pid 9235] ×2 + 1.34sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.34sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.96sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.96sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.96sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.97sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.97sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.00sINFOros2-18process has finished cleanly [pid 9234] ×2 + 2.02sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 2.02sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.03sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.03sINFOplatform_velocity_controllerconfigure successful + 2.03sINFOros2_control_nodeconfigure successful[0m ×2 + 2.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.04sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 2.04sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 2.57sINFOros2-12process has finished cleanly [pid 9228] ×2 + 2.62sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 2.62sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.87sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'vacuum_gripper' + 2.87sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 2.87sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 2.87sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 2.89sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.89sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.89sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 2.89sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 2.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 2.90sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 2.90sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 2.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 2.91sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 2.91sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.22sINFOros2-13process has finished cleanly [pid 9229] ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 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 + 3.65sINFOmove_groupOctomap cleared.[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 4.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 5.49sINFOobjective_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 + 5.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.49sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.49sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.54sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 6.08sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 6.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 27 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301902 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301902 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 200 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.04sINFOros2-19process has finished cleanly [pid 9235] ×2 + 0.07sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.10sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.987] [info] Controller state will be published at 20 Hz. ×2 + 0.37sINFOros2_control_node[2026-06-26 20:01:56.988] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.69sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.69sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.69sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 0.69sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.69sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 0.72sINFOros2-18process has finished cleanly [pid 9234] ×2 + 0.75sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.75sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.75sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.75sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.76sINFOplatform_velocity_controllerconfigure successful + 0.76sINFOros2_control_nodeconfigure successful[0m ×2 + 0.76sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.76sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.76sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.76sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.77sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.342243 ms (missed cycles : 3).[0m ×2 + 1.30sINFOros2-12process has finished cleanly [pid 9228] ×2 + 1.34sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 1.34sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.60sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.60sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi + 1.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mw52sitf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z8iursj1 --params-file /tmp/launch_params_tlvl4aqi [0m ×2 + 1.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.62sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 1.62sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.62sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.63sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.64sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 1.64sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.94sINFOros2-13process has finished cleanly [pid 9229] ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070417 ms (missed cycles : 2).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782504118.98735690 seconds. ×3 + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.38sINFOmove_groupClearing octomap...[0m ×2 + 2.38sINFOmove_groupOctomap cleared.[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782504119.00771666 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782504119.55231214 seconds. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782504119.56244087 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.269666 ms (missed cycles : 4).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782504120.10571933 seconds. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782504120.25632191 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716454 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782504120.82622123 seconds. ×3 + 4.22sINFOobjective_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 + 4.22sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.22sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.24sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.26sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782504120.88636255 seconds ×3 + 4.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782504121.43004632 seconds. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.882935 ms (missed cycles : 2).[0m ×2 + 5.36sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.86sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.10sINFOjoint_trajectory_controllerReceived new action goal + 6.10sINFOjoint_trajectory_controllerAccepted new action goal + 6.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.939369 ms (missed cycles : 4).[0m ×2 | ||||