67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.2s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.4s | 3 errors · 243 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038877 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038877 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669177 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669177 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982886 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982886 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994342 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994342 ms (missed cycles : 3).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGot request to cancel goal + 4.10sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.10sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782841898.85558534 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768146 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768146 ms (missed cycles : 4).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782841899.40999246 seconds. ×3 + 4.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815112 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815112 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319667 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319667 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280340 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280340 ms (missed cycles : 2).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844608 ms (missed cycles : 3). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844608 ms (missed cycles : 3).[0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931128 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931128 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.538949 ms (missed cycles : 7). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.538949 ms (missed cycles : 7).[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365456 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365456 ms (missed cycles : 3).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527039 ms (missed cycles : 3). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.527039 ms (missed cycles : 3).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408184 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408184 ms (missed cycles : 2).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616237 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616237 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851692 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851692 ms (missed cycles : 2).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139761 ms (missed cycles : 7). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.139761 ms (missed cycles : 7).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672432 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672432 ms (missed cycles : 2).[0m ×2 + 18.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110242 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110242 ms (missed cycles : 3).[0m ×2 + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054148 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054148 ms (missed cycles : 3).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003254 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.003254 ms (missed cycles : 2).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3). + 21.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519663 ms (missed cycles : 3).[0m ×2 + 22.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103548 ms (missed cycles : 2). + 22.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.103548 ms (missed cycles : 2).[0m ×2 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.126647 ms (missed cycles : 6). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.126647 ms (missed cycles : 6).[0m ×2 + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915058 ms (missed cycles : 4). + 24.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915058 ms (missed cycles : 4).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850455 ms (missed cycles : 3). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850455 ms (missed cycles : 3).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642965 ms (missed cycles : 5). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.642965 ms (missed cycles : 5).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076664 ms (missed cycles : 2). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076664 ms (missed cycles : 2).[0m ×2 + 29.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097707 ms (missed cycles : 3). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097707 ms (missed cycles : 3).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678886 ms (missed cycles : 6). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.678886 ms (missed cycles : 6).[0m ×2 + 31.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295240 ms (missed cycles : 2). + 31.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295240 ms (missed cycles : 2).[0m ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832646 ms (missed cycles : 3).[0m ×2 + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127255 ms (missed cycles : 2). + 33.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127255 ms (missed cycles : 2).[0m ×2 + 33.57sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.57sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.87sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471979 ms (missed cycles : 5). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.471979 ms (missed cycles : 5).[0m ×2 + 34.52sWARNobjective_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 + 34.52sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122507 ms (missed cycles : 2). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122507 ms (missed cycles : 2).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234733 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234733 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108200 ms (missed cycles : 3).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645585 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645585 ms (missed cycles : 3).[0m ×2 + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343450 ms (missed cycles : 6). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343450 ms (missed cycles : 6).[0m ×2 + 40.13sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018572 ms (missed cycles : 4). + 40.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018572 ms (missed cycles : 4).[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.286124 ms (missed cycles : 6). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.286124 ms (missed cycles : 6).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817324 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817324 ms (missed cycles : 3).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685152 ms (missed cycles : 2). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685152 ms (missed cycles : 2).[0m ×2 + 44.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008905 ms (missed cycles : 2). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008905 ms (missed cycles : 2).[0m ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052234 ms (missed cycles : 2). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052234 ms (missed cycles : 2).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447492 ms (missed cycles : 2). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447492 ms (missed cycles : 2).[0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600762 ms (missed cycles : 2). + 47.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600762 ms (missed cycles : 2).[0m ×2 + 48.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449355 ms (missed cycles : 4). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449355 ms (missed cycles : 4).[0m ×2 + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411203 ms (missed cycles : 3). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411203 ms (missed cycles : 3).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.507142 ms (missed cycles : 8). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.507142 ms (missed cycles : 8).[0m ×2 + 51.57sINFOobjective_server_nodePlanning for 41 path waypoints. ×3 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871185 ms (missed cycles : 2). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871185 ms (missed cycles : 2).[0m ×2 + 52.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857770 ms (missed cycles : 2). + 52.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857770 ms (missed cycles : 2).[0m ×2 + 54.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3). + 54.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443878 ms (missed cycles : 3).[0m ×2 + 55.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936935 ms (missed cycles : 2). + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936935 ms (missed cycles : 2).[0m ×2 + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377507 ms (missed cycles : 4). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377507 ms (missed cycles : 4).[0m ×2 + 57.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801611 ms (missed cycles : 2). + 57.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801611 ms (missed cycles : 2).[0m ×2 + 58.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314402 ms (missed cycles : 3). + 58.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314402 ms (missed cycles : 3).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805933 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805933 ms (missed cycles : 2).[0m ×2 + 60.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701586 ms (missed cycles : 2). + 60.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701586 ms (missed cycles : 2).[0m ×2 + 61.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.093708 ms (missed cycles : 6). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.093708 ms (missed cycles : 6).[0m ×2 + 62.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894793 ms (missed cycles : 4). + 62.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894793 ms (missed cycles : 4).[0m ×2 + 63.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532850 ms (missed cycles : 2). + 63.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532850 ms (missed cycles : 2).[0m ×2 + 64.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035076 ms (missed cycles : 5). + 64.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.035076 ms (missed cycles : 5).[0m ×2 + 65.04sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 65.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088040 ms (missed cycles : 2). + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088040 ms (missed cycles : 2).[0m ×2 + 66.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507089 ms (missed cycles : 3). + 66.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507089 ms (missed cycles : 3).[0m ×2 + 67.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300988 ms (missed cycles : 4). + 67.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300988 ms (missed cycles : 4).[0m ×2 + 68.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096462 ms (missed cycles : 4). + 68.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096462 ms (missed cycles : 4).[0m ×2 + 69.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002912 ms (missed cycles : 3). + 69.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002912 ms (missed cycles : 3).[0m ×2 + 70.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254002 ms (missed cycles : 2). + 70.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.254002 ms (missed cycles : 2).[0m ×2 + 71.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780762 ms (missed cycles : 2). + 71.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780762 ms (missed cycles : 2).[0m ×2 + 72.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210728 ms (missed cycles : 6). + 72.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.210728 ms (missed cycles : 6).[0m ×2 + 73.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 73.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 74.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 74.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 75.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 75.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 76.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 76.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 77.47sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 77.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 77.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 78.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 78.43sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 79.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 79.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 80.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 80.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 189 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 0.35sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.36sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 1.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.90sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.90sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.90sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.90sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841741.35095358 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841741.90532637 seconds. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822745 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822745 ms (missed cycles : 2).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170165 ms (missed cycles : 4). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170165 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395021 ms (missed cycles : 5). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395021 ms (missed cycles : 5).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240912 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240912 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934923 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934923 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485567 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485567 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070762 ms (missed cycles : 6). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.070762 ms (missed cycles : 6).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075577 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075577 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192151 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192151 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744391 ms (missed cycles : 7). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744391 ms (missed cycles : 7).[0m ×2 + 17.53sINFOros2_control_nodeMuJoCo sim: 0.59% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290077 ms (missed cycles : 5). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290077 ms (missed cycles : 5).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.653661 ms (missed cycles : 7). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.653661 ms (missed cycles : 7).[0m ×2 + 19.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856154 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856154 ms (missed cycles : 2).[0m ×2 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640410 ms (missed cycles : 2). + 20.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640410 ms (missed cycles : 2).[0m ×2 + 21.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395311 ms (missed cycles : 3). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395311 ms (missed cycles : 3).[0m ×2 + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274154 ms (missed cycles : 5). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.274154 ms (missed cycles : 5).[0m ×2 + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051743 ms (missed cycles : 2). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051743 ms (missed cycles : 2).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115547 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115547 ms (missed cycles : 2).[0m ×2 + 25.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947169 ms (missed cycles : 2). + 25.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947169 ms (missed cycles : 2).[0m ×2 + 26.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.002896 ms (missed cycles : 6). + 26.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.002896 ms (missed cycles : 6).[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.868478 ms (missed cycles : 9). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.868478 ms (missed cycles : 9).[0m ×2 + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132871 ms (missed cycles : 3). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132871 ms (missed cycles : 3).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818212 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.818212 ms (missed cycles : 3).[0m ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299560 ms (missed cycles : 2). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299560 ms (missed cycles : 2).[0m ×2 + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845931 ms (missed cycles : 3). + 32.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845931 ms (missed cycles : 3).[0m ×2 + 33.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164379 ms (missed cycles : 4). + 33.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164379 ms (missed cycles : 4).[0m ×2 + 34.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245056 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.245056 ms (missed cycles : 3).[0m ×2 + 35.21sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 35.21sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798514 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798514 ms (missed cycles : 2).[0m ×2 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970144 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970144 ms (missed cycles : 2).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920026 ms (missed cycles : 4). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.920026 ms (missed cycles : 4).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450919 ms (missed cycles : 3). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450919 ms (missed cycles : 3).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889545 ms (missed cycles : 3). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889545 ms (missed cycles : 3).[0m ×2 + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744550 ms (missed cycles : 7). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.744550 ms (missed cycles : 7).[0m ×2 + 41.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885133 ms (missed cycles : 4). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885133 ms (missed cycles : 4).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117600 ms (missed cycles : 3). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.117600 ms (missed cycles : 3).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932860 ms (missed cycles : 3). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.932860 ms (missed cycles : 3).[0m ×2 + 44.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992944 ms (missed cycles : 4). + 44.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992944 ms (missed cycles : 4).[0m ×2 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.099083 ms (missed cycles : 7). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.099083 ms (missed cycles : 7).[0m ×2 + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881728 ms (missed cycles : 2). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881728 ms (missed cycles : 2).[0m ×2 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619666 ms (missed cycles : 3). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619666 ms (missed cycles : 3).[0m ×2 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151382 ms (missed cycles : 4). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151382 ms (missed cycles : 4).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006240 ms (missed cycles : 2). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006240 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.060354 ms (missed cycles : 8). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.060354 ms (missed cycles : 8).[0m ×2 + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241225 ms (missed cycles : 4). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241225 ms (missed cycles : 4).[0m ×2 + 53.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809361 ms (missed cycles : 4). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809361 ms (missed cycles : 4).[0m ×2 + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090862 ms (missed cycles : 5). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.090862 ms (missed cycles : 5).[0m ×2 + 55.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771250 ms (missed cycles : 4). + 55.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771250 ms (missed cycles : 4).[0m ×2 + 56.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009138 ms (missed cycles : 3). + 56.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009138 ms (missed cycles : 3).[0m ×2 + 57.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4). + 57.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 60.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 60.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 60.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 61.40sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 61.74sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 61.76sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 62.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 63.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 63.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.2s | 180 warnings · 72 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.67sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.11sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.11sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458975 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458975 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242007 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.242007 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916614 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916614 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450554 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.450554 ms (missed cycles : 3).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864097 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864097 ms (missed cycles : 3).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206540 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206540 ms (missed cycles : 3).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187481 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187481 ms (missed cycles : 3).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202468 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202468 ms (missed cycles : 3).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159631 ms (missed cycles : 6). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.159631 ms (missed cycles : 6).[0m ×2 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256684 ms (missed cycles : 3).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427682 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427682 ms (missed cycles : 3).[0m ×2 + 18.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586551 ms (missed cycles : 4). + 18.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586551 ms (missed cycles : 4).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535503 ms (missed cycles : 5). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535503 ms (missed cycles : 5).[0m ×2 + 20.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925490 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925490 ms (missed cycles : 3).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145644 ms (missed cycles : 3). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145644 ms (missed cycles : 3).[0m ×2 + 23.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.514164 ms (missed cycles : 6). + 23.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.514164 ms (missed cycles : 6).[0m ×2 + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576725 ms (missed cycles : 6). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.576725 ms (missed cycles : 6).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232173 ms (missed cycles : 2). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232173 ms (missed cycles : 2).[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718354 ms (missed cycles : 3). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718354 ms (missed cycles : 3).[0m ×2 + 26.37sINFOros2_control_nodeMuJoCo sim: 1.01% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107359 ms (missed cycles : 3). + 27.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107359 ms (missed cycles : 3).[0m ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618729 ms (missed cycles : 4). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618729 ms (missed cycles : 4).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812386 ms (missed cycles : 2). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812386 ms (missed cycles : 2).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895307 ms (missed cycles : 6). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.895307 ms (missed cycles : 6).[0m ×2 + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106773 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106773 ms (missed cycles : 2).[0m ×2 + 32.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.490185 ms (missed cycles : 8). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.490185 ms (missed cycles : 8).[0m ×2 + 33.33sWARNobjective_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 + 33.33sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372652 ms (missed cycles : 4). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.372652 ms (missed cycles : 4).[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326475 ms (missed cycles : 2). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.326475 ms (missed cycles : 2).[0m ×2 + 35.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493818 ms (missed cycles : 2). + 35.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493818 ms (missed cycles : 2).[0m ×2 + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073632 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073632 ms (missed cycles : 3).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306395 ms (missed cycles : 6). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306395 ms (missed cycles : 6).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.530894 ms (missed cycles : 6). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.530894 ms (missed cycles : 6).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968694 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968694 ms (missed cycles : 3).[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.186781 ms (missed cycles : 6). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.186781 ms (missed cycles : 6).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495287 ms (missed cycles : 6). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495287 ms (missed cycles : 6).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581166 ms (missed cycles : 2). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581166 ms (missed cycles : 2).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215683 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215683 ms (missed cycles : 2).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988606 ms (missed cycles : 2). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988606 ms (missed cycles : 2).[0m ×2 + 46.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559216 ms (missed cycles : 6). + 46.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.559216 ms (missed cycles : 6).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769660 ms (missed cycles : 4). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769660 ms (missed cycles : 4).[0m ×2 + 48.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647630 ms (missed cycles : 3). + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.647630 ms (missed cycles : 3).[0m ×2 + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405274 ms (missed cycles : 3). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405274 ms (missed cycles : 3).[0m ×2 + 50.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959366 ms (missed cycles : 7). + 50.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.959366 ms (missed cycles : 7).[0m ×2 + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.180455 ms (missed cycles : 4).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520790 ms (missed cycles : 4).[0m ×2 + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790686 ms (missed cycles : 6). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.790686 ms (missed cycles : 6).[0m ×2 + 54.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120152 ms (missed cycles : 2). + 54.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120152 ms (missed cycles : 2).[0m ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522220 ms (missed cycles : 3). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522220 ms (missed cycles : 3).[0m ×2 + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933193 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933193 ms (missed cycles : 3).[0m ×2 + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689278 ms (missed cycles : 2). + 57.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689278 ms (missed cycles : 2).[0m ×2 + 58.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212220 ms (missed cycles : 6). + 58.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212220 ms (missed cycles : 6).[0m ×2 + 58.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782842027.47530198 seconds ×3 + 59.52sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782842028.03976631 seconds. ×3 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235611 ms (missed cycles : 6). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235611 ms (missed cycles : 6).[0m ×2 + 59.93sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 59.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578270 ms (missed cycles : 3). + 60.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578270 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.5s | 177 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.34sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841834.66284943 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841835.22496748 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.59sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.59sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768171 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768171 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341431 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341431 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645692 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645692 ms (missed cycles : 3).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242246 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242246 ms (missed cycles : 2).[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220255 ms (missed cycles : 4). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220255 ms (missed cycles : 4).[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270033 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.270033 ms (missed cycles : 3).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030568 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030568 ms (missed cycles : 2).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356577 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356577 ms (missed cycles : 3).[0m ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.161658 ms (missed cycles : 7). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.161658 ms (missed cycles : 7).[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081143 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081143 ms (missed cycles : 4).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700163 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700163 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661101 ms (missed cycles : 3). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661101 ms (missed cycles : 3).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135741 ms (missed cycles : 3). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135741 ms (missed cycles : 3).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162527 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162527 ms (missed cycles : 3).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222173 ms (missed cycles : 6). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.222173 ms (missed cycles : 6).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950886 ms (missed cycles : 4). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.950886 ms (missed cycles : 4).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923166 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923166 ms (missed cycles : 2).[0m ×2 + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721204 ms (missed cycles : 2). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721204 ms (missed cycles : 2).[0m ×2 + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300911 ms (missed cycles : 3). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300911 ms (missed cycles : 3).[0m ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928165 ms (missed cycles : 3). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928165 ms (missed cycles : 3).[0m ×2 + 28.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200849 ms (missed cycles : 3). + 28.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200849 ms (missed cycles : 3).[0m ×2 + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781847 ms (missed cycles : 3). + 29.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781847 ms (missed cycles : 3).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859124 ms (missed cycles : 4). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859124 ms (missed cycles : 4).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680029 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680029 ms (missed cycles : 2).[0m ×2 + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456874 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456874 ms (missed cycles : 2).[0m ×2 + 33.20sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308046 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308046 ms (missed cycles : 2).[0m ×2 + 33.84sWARNobjective_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 + 33.84sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 34.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902467 ms (missed cycles : 3). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902467 ms (missed cycles : 3).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686949 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686949 ms (missed cycles : 3).[0m ×2 + 36.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.782711 ms (missed cycles : 7). + 36.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.782711 ms (missed cycles : 7).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385827 ms (missed cycles : 3). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385827 ms (missed cycles : 3).[0m ×2 + 38.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645667 ms (missed cycles : 4). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.645667 ms (missed cycles : 4).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521383 ms (missed cycles : 2). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521383 ms (missed cycles : 2).[0m ×2 + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075617 ms (missed cycles : 2). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075617 ms (missed cycles : 2).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416707 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416707 ms (missed cycles : 3).[0m ×2 + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206641 ms (missed cycles : 4). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206641 ms (missed cycles : 4).[0m ×2 + 43.62sINFOros2_control_nodeMuJoCo sim: 0.88% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.320539 ms (missed cycles : 6). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.320539 ms (missed cycles : 6).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181309 ms (missed cycles : 3). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181309 ms (missed cycles : 3).[0m ×2 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535251 ms (missed cycles : 5). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535251 ms (missed cycles : 5).[0m ×2 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.277931 ms (missed cycles : 6). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.277931 ms (missed cycles : 6).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531809 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531809 ms (missed cycles : 3).[0m ×2 + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243248 ms (missed cycles : 2). + 48.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243248 ms (missed cycles : 2).[0m ×2 + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645682 ms (missed cycles : 3). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645682 ms (missed cycles : 3).[0m ×2 + 50.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020350 ms (missed cycles : 2). + 50.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020350 ms (missed cycles : 2).[0m ×2 + 51.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510881 ms (missed cycles : 5). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.510881 ms (missed cycles : 5).[0m ×2 + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862256 ms (missed cycles : 4). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862256 ms (missed cycles : 4).[0m ×2 + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809743 ms (missed cycles : 5). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809743 ms (missed cycles : 5).[0m ×2 + 55.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337495 ms (missed cycles : 2). + 55.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337495 ms (missed cycles : 2).[0m ×2 + 56.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202414 ms (missed cycles : 2). + 56.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202414 ms (missed cycles : 2).[0m ×2 + 56.91sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782841888.17513871 seconds ×3 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508878 ms (missed cycles : 3). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508878 ms (missed cycles : 3).[0m ×2 + 57.47sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782841888.73327971 seconds. ×3 + 57.83sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 58.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243120 ms (missed cycles : 2). + 58.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243120 ms (missed cycles : 2).[0m ×2 + 59.14sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152758 ms (missed cycles : 6). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152758 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.4s | 147 warnings · 221 info |
+ 0.00sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.03sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.03sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.33sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.68sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 0.68sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 0.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.05sINFOros2-18process has finished cleanly [pid 9239] ×2 + 1.15sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.53sINFOros2-15process has finished cleanly [pid 9236] ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.89sINFOmove_groupClearing octomap...[0m ×2 + 1.89sINFOmove_groupOctomap cleared.[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 2.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 2.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 3.76sINFOobjective_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 + 3.76sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.76sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.76sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.79sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.79sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 3.80sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 4.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.39sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 5.42sWARNobjective_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 + 5.43sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.68sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.68sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.68sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.68sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687646 ms (missed cycles : 4). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687646 ms (missed cycles : 4).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073473 ms (missed cycles : 4). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073473 ms (missed cycles : 4).[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215748 ms (missed cycles : 5). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.215748 ms (missed cycles : 5).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700826 ms (missed cycles : 2). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700826 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535714 ms (missed cycles : 5). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.535714 ms (missed cycles : 5).[0m ×2 + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909317 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909317 ms (missed cycles : 2).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682124 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682124 ms (missed cycles : 3).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308197 ms (missed cycles : 4). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.308197 ms (missed cycles : 4).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836731 ms (missed cycles : 4). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836731 ms (missed cycles : 4).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099986 ms (missed cycles : 4). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.099986 ms (missed cycles : 4).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986275 ms (missed cycles : 6). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.986275 ms (missed cycles : 6).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189868 ms (missed cycles : 6). + 18.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.189868 ms (missed cycles : 6).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874814 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874814 ms (missed cycles : 3).[0m ×2 + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801007 ms (missed cycles : 3). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801007 ms (missed cycles : 3).[0m ×2 + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432193 ms (missed cycles : 6). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432193 ms (missed cycles : 6).[0m ×2 + 22.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873422 ms (missed cycles : 2). + 22.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873422 ms (missed cycles : 2).[0m ×2 + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986437 ms (missed cycles : 3). + 23.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986437 ms (missed cycles : 3).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795462 ms (missed cycles : 4). + 24.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795462 ms (missed cycles : 4).[0m ×2 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352357 ms (missed cycles : 3). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.352357 ms (missed cycles : 3).[0m ×2 + 27.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482445 ms (missed cycles : 4). + 27.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482445 ms (missed cycles : 4).[0m ×2 + 28.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170321 ms (missed cycles : 3). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170321 ms (missed cycles : 3).[0m ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377366 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377366 ms (missed cycles : 2).[0m ×2 + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848687 ms (missed cycles : 2). + 30.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848687 ms (missed cycles : 2).[0m ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.899279 ms (missed cycles : 7). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.899279 ms (missed cycles : 7).[0m ×2 + 32.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373506 ms (missed cycles : 5). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.373506 ms (missed cycles : 5).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377641 ms (missed cycles : 4). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377641 ms (missed cycles : 4).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626288 ms (missed cycles : 4). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.626288 ms (missed cycles : 4).[0m ×2 + 35.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118050 ms (missed cycles : 3). + 35.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118050 ms (missed cycles : 3).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052786 ms (missed cycles : 5). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.052786 ms (missed cycles : 5).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593921 ms (missed cycles : 6). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.593921 ms (missed cycles : 6).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815380 ms (missed cycles : 6). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.815380 ms (missed cycles : 6).[0m ×2 + 39.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653073 ms (missed cycles : 3). + 39.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653073 ms (missed cycles : 3).[0m ×2 + 40.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929695 ms (missed cycles : 4). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929695 ms (missed cycles : 4).[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925649 ms (missed cycles : 4). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925649 ms (missed cycles : 4).[0m ×2 + 42.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843212 ms (missed cycles : 2). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843212 ms (missed cycles : 2).[0m ×2 + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4). + 43.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4).[0m ×2 + 44.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4). + 44.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 47.22sINFOjoint_trajectory_controllerGoal reached, success! + 47.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 47.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 47.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 47.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 48.73sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 48.74sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 111 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041199 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041199 ms (missed cycles : 2).[0m ×2 + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.05sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782841802.78802395 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878082 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878082 ms (missed cycles : 2).[0m ×2 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034305 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034305 ms (missed cycles : 4).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782841804.34269142 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017887 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017887 ms (missed cycles : 3).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.51sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.51sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.51sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.51sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289098 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.289098 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355571 ms (missed cycles : 7). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355571 ms (missed cycles : 7).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800935 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.800935 ms (missed cycles : 5).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152394 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152394 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241737 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241737 ms (missed cycles : 2).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428460 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428460 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765293 ms (missed cycles : 6). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765293 ms (missed cycles : 6).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782909 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782909 ms (missed cycles : 3).[0m ×2 + 15.14sINFOros2_control_nodeMuJoCo sim: 0.84% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327471 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327471 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152620 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152620 ms (missed cycles : 2).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974309 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974309 ms (missed cycles : 2).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923655 ms (missed cycles : 3). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923655 ms (missed cycles : 3).[0m ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377434 ms (missed cycles : 3). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377434 ms (missed cycles : 3).[0m ×2 + 21.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708499 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708499 ms (missed cycles : 2).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189417 ms (missed cycles : 2). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189417 ms (missed cycles : 2).[0m ×2 + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525010 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525010 ms (missed cycles : 3).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123234 ms (missed cycles : 5). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123234 ms (missed cycles : 5).[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886217 ms (missed cycles : 4). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886217 ms (missed cycles : 4).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521581 ms (missed cycles : 5). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.521581 ms (missed cycles : 5).[0m ×2 + 27.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133049 ms (missed cycles : 5). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133049 ms (missed cycles : 5).[0m ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079081 ms (missed cycles : 2). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.079081 ms (missed cycles : 2).[0m ×2 + 29.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253773 ms (missed cycles : 3). + 29.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253773 ms (missed cycles : 3).[0m ×2 + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344851 ms (missed cycles : 3). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344851 ms (missed cycles : 3).[0m ×2 + 31.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2).[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6).[0m ×2 + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3).[0m ×2 + 34.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3). + 34.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3).[0m ×2 + 34.93sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841834.66284943 seconds ×3 + 35.49sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841835.22496748 seconds. ×3 + 35.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2). + 35.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2).[0m ×2 + 35.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6).[0m ×2 + 37.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.0s | 55 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522220 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522220 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933193 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933193 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689278 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689278 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212220 ms (missed cycles : 6). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.212220 ms (missed cycles : 6).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.36sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.41sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782842027.47530198 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782842028.03976631 seconds. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235611 ms (missed cycles : 6). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.235611 ms (missed cycles : 6).[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.43sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.43sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.43sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.43sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578270 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578270 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795700 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795700 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818333 ms (missed cycles : 5). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818333 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956170 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956170 ms (missed cycles : 4).[0m ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (8e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 9.37sINFOobjective_server_nodeFound path in 69 iterations (0.0538795 s). ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106873 ms (missed cycles : 5). + 9.57sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106873 ms (missed cycles : 5).[0m ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 10.01sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.39sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516901 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516901 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420525 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.420525 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4).[0m ×2 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3).[0m ×2 + 16.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842040.49393344 seconds ×3 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2).[0m ×2 + 17.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842041.07685709 seconds. ×3 + 17.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.01sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.01sINFOmove_groupClearing octomap...[0m ×2 + 17.01sINFOmove_groupOctomap cleared.[0m ×2 + 17.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842041.52698970 seconds ×3 + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3).[0m ×2 + 18.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842042.08354163 seconds. ×3 + 18.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842042.56368542 seconds ×3 + 18.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 2). | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 80 errors · 33 warnings · 384 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3).[0m ×2 + 2.72sINFOjoint_trajectory_controllerGoal reached, success! + 2.72sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.75sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842040.49393344 seconds ×3 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.77sINFOros2_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 2.969568 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842041.07685709 seconds. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842041.52698970 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842042.08354163 seconds. ×3 + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842042.56368542 seconds ×3 + 5.06sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109185 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109185 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397705 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397705 ms (missed cycles : 4).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038100 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.038100 ms (missed cycles : 3).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595217 ms (missed cycles : 5). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.595217 ms (missed cycles : 5).[0m ×2 + 10.86sERRORweb_video_server-31process[web_video_server-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORtf2_web_republisher_node-30process[tf2_web_republisher_node-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORweb_bridge-29process[web_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORui_teleop_bridge-28process[ui_teleop_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORexecute_objective_bridge-27process[execute_objective_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sINFOweb_video_server-31sending signal 'SIGTERM' to process[web_video_server-31] ×2 + 10.89sERRORcomponent_container_mt-26process[component_container_mt-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORobjective_server_node_main-25process[objective_server_node_main-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_end_effector_resampler_node-24process[move_end_effector_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_joint_resampler_node-23process[move_joint_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sINFOtf2_web_republisher_node-30sending signal 'SIGTERM' to process[tf2_web_republisher_node-30] ×2 + 10.93sERRORwaypoint_manager_node-22process[waypoint_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORparameter_manager_node-21process[parameter_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORmove_group-20process[move_group-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORros2_control_node-8process[ros2_control_node-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.97sINFOweb_bridge-29sending signal 'SIGTERM' to process[web_bridge-29] ×2 + 10.98sINFOui_teleop_bridge-28sending signal 'SIGTERM' to process[ui_teleop_bridge-28] ×2 + 11.00sINFOexecute_objective_bridge-27sending signal 'SIGTERM' to process[execute_objective_bridge-27] ×2 + 11.02sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.02sINFOcomponent_container_mt-26sending signal 'SIGTERM' to process[component_container_mt-26] ×2 + 11.04sINFOobjective_server_node_main-25sending signal 'SIGTERM' to process[objective_server_node_main-25] ×2 + 11.07sINFOmove_end_effector_resampler_node-24sending signal 'SIGTERM' to process[move_end_effector_resampler_node-24] ×2 + 11.09sINFOmove_joint_resampler_node-23sending signal 'SIGTERM' to process[move_joint_resampler_node-23] ×2 + 11.10sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.11sINFOwaypoint_manager_node-22sending signal 'SIGTERM' to process[waypoint_manager_node-22] ×2 + 11.13sINFOparameter_manager_node-21sending signal 'SIGTERM' to process[parameter_manager_node-21] ×2 + 11.15sINFOmove_group-20sending signal 'SIGTERM' to process[move_group-20] ×2 + 11.17sINFOweb_video_server-31process has finished cleanly [pid 9311] ×2 + 11.18sINFOros2_control_node-8sending signal 'SIGTERM' to process[ros2_control_node-8] ×2 + 11.18sINFOcontroller_managerShutdown request received.... + 11.19sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.19sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.19sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.19sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.19sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.19sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.19sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.19sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.19sINFOcontroller_managerShutting down the controller manager. + 11.19sINFOtf2_web_republisher_node-30process has finished cleanly [pid 9310] ×2 + 11.20sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.22sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.22sERRORmove_group-20process has died [pid 9241, 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_j8j0_guj --params-file /tmp/launch_params_l3boedn6 --params-file /tmp/launch_params_0tl363yd --params-file /tmp/launch_params_oirvpqh5 --params-file /tmp/launch_params_9o20kbyr --params-file /tmp/launch_params_1earxysf --params-file /tmp/launch_params_r319m92g --params-file /tmp/launch_params_ienq1fff --params-file /tmp/launch_params_zevgas8y']. ×2 + 11.24sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.25sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.27sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.29sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.30sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.30sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.30sINFOcontroller_serverCleaning up + 11.30sINFOlocal_costmap.local_costmapCleaning up + 11.30sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.31sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.31sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 11.31sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.31sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.31sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.31sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.31sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.31sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.31sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.31sERRORmove_groupStack trace (most recent call last) in thread 9800: ×2 + 11.31sINFOobjective_server_node[2026-06-30 17:54:08.905] [moveit_pro_license] [info] ×2 + 11.31sINFOobjective_server_node************************************************* ×4 + 11.31sINFOobjective_server_node* MoveIt Pro License ×2 + 11.31sINFOobjective_server_node* Application has successfully terminated ×2 + 11.32sINFOlaunchprocess[tf2_web_republisher_node-30] was required: shutting down launched system ×2 + 11.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f209778aa63, in __clone ×2 + 11.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20976fdaa3, in ×2 + 11.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f209798fdb3, in ×2 + 11.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f2097fe41c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2097d024d0, in rclcpp::Rate::sleep() ×2 + 11.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2097c55a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f2097c1aa71, in ×2 + 11.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f209795e390, in __cxa_throw ×2 + 11.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2097948a54, in std::terminate() ×2 + 11.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f209795e0d9, in ×2 + 11.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f2097948ff4, in ×2 + 11.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20976898fe, in abort ×2 + 11.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20976a627d, in raise ×2 + 11.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f20976ffb2c, in pthread_kill ×2 + 11.32sERRORmove_groupAborted (Signal sent by tkill() 9241 0) ×2 + 11.32sERRORobjective_server_node_main-25process has died [pid 9305, 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_izcplrut --params-file /tmp/launch_params_brjhd48q --params-file /tmp/launch_params_qtsojz33 --params-file /tmp/launch_params_53gkivb0 --params-file /tmp/launch_params_qli69wuv --params-file /tmp/launch_params_vdiv6z0_ --params-file /tmp/launch_params_m3y004u1 --params-file /tmp/launch_params_wye0yz5y --params-file /tmp/launch_params_j9n7xfo0']. ×2 + 11.32sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.32sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.32sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.32sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.32sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.32sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564b3bd206a4, in _start ×2 + 11.32sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f0e6628a, in __libc_start_main ×2 + 11.32sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f0e661d0, in ×2 + 11.32sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f0e83bbd, in exit ×2 + 11.32sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f91f0e83a75, in ×2 + 11.32sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f91f13554a2, in spdlog::details::registry::~registry() ×2 + 11.32sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f91f136069d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.33sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f91f135a965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564b3bd27315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.33sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564b3bd265a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.33sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564b3bd22b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.33sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x564b3bd20d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19fc454, in rclcpp::Node::~Node() ×2 + 11.33sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19b7515, in ×2 + 11.33sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19fad20, in ×2 + 11.33sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19fac63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.33sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19b75d9, in ×2 + 11.33sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f91f19bc161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.33sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f91b5122110]) ×2 + 11.33sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.33sINFOodom_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 + 11.33sINFOodom_qos_relay.pymain() ×2 + 11.33sINFOodom_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 + 11.33sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.33sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.33sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.33sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.33sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.33sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×6 + 11.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.34sINFOlaunchprocess[objective_server_node_main-25] was required: shutting down launched system ×2 + 11.35sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.35sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.35sINFOmap_serverDeactivating + 11.35sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.36sINFOmap_serverCleaning up + 11.36sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.36sINFOsmoother_serverCleaning up + 11.36sINFOlifecycle_manager_localization[34m[1mHave not received a heartbeat from map_server.[0m[0m + 11.36sERRORlifecycle_manager_localizationCRITICAL FAILURE: SERVER map_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.36sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.36sINFOlifecycle_manager_localization[34m[1mResetting managed nodes...[0m[0m + 11.36sINFOlifecycle_manager_localization[34m[1mDeactivating map_server[0m[0m + 11.37sERRORmap_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sERRORlifecycle_manager_localizationFailed to change state for node: map_server + 11.37sINFOlifecycle_manager_localization[34m[1mCleaning up map_server[0m[0m + 11.37sERRORmap_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.37sINFOlifecycle_manager_localization[34m[1mManaged nodes have been reset[0m[0m + 11.37sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.37sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.39sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.39sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.39sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.39sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.39sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.39sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.39sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.39sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.39sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.39sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.39sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.40sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.41sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.85sERRORcomponent_container_isolated-1process has died [pid 9145, 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_p5p4r2y7 --params-file /tmp/launch_params_f69s7u86 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.12sINFOmove_end_effector_resampler_node-24process has finished cleanly [pid 9304] ×2 + 12.13sERRORui_teleop_bridge-28process has died [pid 9308, 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_1xtiz7m6']. ×2 + 12.13sINFOexecute_objective_bridge-27process has finished cleanly [pid 9307] ×2 + 12.14sINFOmove_joint_resampler_node-23process has finished cleanly [pid 9244] ×2 + 12.20sINFOparameter_manager_node-21process has finished cleanly [pid 9242] ×2 + 12.22sINFOwaypoint_manager_node-22process has finished cleanly [pid 9243] ×2 + 12.24sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9151] ×2 + 12.27sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9150] ×2 + 12.29sINFOstatic_transform_publisher-4process has finished cleanly [pid 9148] ×2 + 12.31sINFOstatic_transform_publisher-3process has finished cleanly [pid 9147] ×2 + 12.33sINFOstatic_transform_publisher-2process has finished cleanly [pid 9146] ×2 + 12.34sERRORodom_qos_relay.py-5process has died [pid 9149, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 13.30sINFOcomponent_container_mt-26process has finished cleanly [pid 9306] ×2 + 13.73sINFOweb_bridge-29process has finished cleanly [pid 9309] ×2 + 13.73sINFOlaunchprocess[web_bridge-29] was required: shutting down launched system ×2 + 14.00sINFOros2_control_node-8process has finished cleanly [pid 9152] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 51 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862256 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.862256 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809743 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.809743 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337495 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337495 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202414 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.202414 ms (missed cycles : 2).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! + 3.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.92sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782841888.17513871 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508878 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508878 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782841888.73327971 seconds. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243120 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243120 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.20sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.20sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.20sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.20sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152758 ms (missed cycles : 6). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.152758 ms (missed cycles : 6).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171804 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171804 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.442300 ms (missed cycles : 9). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.442300 ms (missed cycles : 9).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707753 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707753 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038877 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038877 ms (missed cycles : 2).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669177 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669177 ms (missed cycles : 2).[0m ×2 + 12.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982886 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982886 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994342 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994342 ms (missed cycles : 3).[0m ×2 + 14.60sINFOjoint_trajectory_controllerGot request to cancel goal + 14.60sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.60sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.60sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.60sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782841898.85558534 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768146 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768146 ms (missed cycles : 4).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782841899.40999246 seconds. ×3 + 15.51sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 15.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815112 ms (missed cycles : 2). + 15.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815112 ms (missed cycles : 2).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319667 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319667 ms (missed cycles : 2).[0m ×2 + 16.76sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 36 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.63sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041199 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041199 ms (missed cycles : 2).[0m ×2 + 8.28sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782841802.78802395 seconds ×3 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878082 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878082 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034305 ms (missed cycles : 4). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034305 ms (missed cycles : 4).[0m ×2 + 9.83sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782841804.34269142 seconds. ×3 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.733842 ms (missed cycles : 6).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017887 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017887 ms (missed cycles : 3).[0m ×2 + 11.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 + 7.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841741.35095358 seconds ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3).[0m ×2 + 7.64sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841741.90532637 seconds. ×3 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2).[0m ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 24 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842040.49393344 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842041.07685709 seconds. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842041.52698970 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842042.08354163 seconds. ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842042.56368542 seconds ×3 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791158 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[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 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841834.66284943 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841835.22496748 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 19 warnings · 32 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.067799 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982925 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.047122 ms (missed cycles : 4).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500860 ms (missed cycles : 3).[0m ×2 + 3.79sINFOjoint_trajectory_controllerGoal reached, success! + 3.79sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.82sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782842040.49393344 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969568 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782842041.07685709 seconds. ×3 + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.41sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.41sINFOmove_groupClearing octomap...[0m ×2 + 4.41sINFOmove_groupOctomap cleared.[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782842041.52698970 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094885 ms (missed cycles : 3).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782842042.08354163 seconds. ×3 + 5.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782842042.56368542 seconds ×3 + 6.13sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213701 ms (missed cycles : 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 5.947208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947208 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720458 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864281 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOjoint_trajectory_controllerReceived new action goal + 4.98sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664366 ms (missed cycles : 3).[0m ×2 + 0.35sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.36sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782841737.72817636 seconds ×3 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782841738.28080821 seconds. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239928 ms (missed cycles : 2).[0m ×2 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (2.0471e-05 s). ×2 + 1.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907499 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607518 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782841741.35095358 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.228879 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782841741.90532637 seconds. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (6.6e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.877905 ms (missed cycles : 4).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208684 ms (missed cycles : 2).[0m ×2 + 6.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[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 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188339 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213130 ms (missed cycles : 6).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014024 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819172 ms (missed cycles : 4).[0m ×2 + 3.63sINFOjoint_trajectory_controllerGoal reached, success! + 3.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782841798.18549037 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001556 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782841798.74789238 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.357328 ms (missed cycles : 5).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199632 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841834.66284943 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841835.22496748 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092852 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.563090 ms (missed cycles : 6).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864410 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714304 ms (missed cycles : 3).[0m ×2 + 3.34sINFOjoint_trajectory_controllerGoal reached, success! + 3.34sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.40sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782841834.66284943 seconds ×3 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782841835.22496748 seconds. ×3 + 3.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704963 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777860 ms (missed cycles : 6).[0m ×2 + 5.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.59sINFOjoint_trajectory_controllerReceived new action goal + 5.59sINFOjoint_trajectory_controllerAccepted new action goal + 5.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.59sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247006 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% 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 | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.074318 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435666 ms (missed cycles : 4).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482456 ms (missed cycles : 5).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444543 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.71sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782841972.23024321 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402062 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782841972.79514837 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.359514 ms (missed cycles : 6).[0m ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.11sINFOjoint_trajectory_controllerReceived new action goal + 6.11sINFOjoint_trajectory_controllerAccepted new action goal + 6.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.5s | 15 errors · 299 warnings · 1075 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/2026-06-30-17-47-45-869087-dd4440e9ceb5-9096 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 12.92sINFOstatic_tf_map_to_odomSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'map' to 'odom' + 12.92sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 12.92sINFOstatic_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' + 13.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.01sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.04sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.04sINFOcontroller_managerupdate rate is 600 Hz + 13.04sINFOcontroller_managerOverruns handling is : enabled + 13.04sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.04sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.08sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.16sINFOcontroller_serverCreating controller server + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495404 ms (missed cycles : 4). + 13.19sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.20sINFOlocal_costmap.local_costmapCreating Costmap + 13.20sINFOros2_control_node-8process started with pid [9152] ×2 + 13.20sINFOmove_group-20process started with pid [9241] ×2 + 13.20sINFOparameter_manager_node-21process started with pid [9242] ×2 + 13.20sINFOwaypoint_manager_node-22process started with pid [9243] ×2 + 13.20sINFOmove_joint_resampler_node-23process started with pid [9244] ×2 + 13.20sINFOmove_end_effector_resampler_node-24process started with pid [9304] ×2 + 13.20sINFOobjective_server_node_main-25process started with pid [9305] ×2 + 13.20sINFOcomponent_container_mt-26process started with pid [9306] ×2 + 13.20sINFOexecute_objective_bridge-27process started with pid [9307] ×2 + 13.20sINFOui_teleop_bridge-28process started with pid [9308] ×2 + 13.20sINFOweb_bridge-29process started with pid [9309] ×2 + 13.21sINFOtf2_web_republisher_node-30process started with pid [9310] ×2 + 13.21sINFOweb_video_server-31process started with pid [9311] ×2 + 13.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.21sINFOcomponent_container_isolated-1process started with pid [9145] ×2 + 13.21sINFOstatic_transform_publisher-2process started with pid [9146] ×2 + 13.21sINFOstatic_transform_publisher-3process started with pid [9147] ×2 + 13.21sINFOstatic_transform_publisher-4process started with pid [9148] ×2 + 13.21sINFOodom_qos_relay.py-5process started with pid [9149] ×2 + 13.21sINFOscan_to_scan_filter_chain-6process started with pid [9150] ×2 + 13.21sINFOscan_to_scan_filter_chain-7process started with pid [9151] ×2 + 13.21sINFOros2-9process started with pid [9230] ×2 + 13.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.23sINFOros2-10process started with pid [9231] ×2 + 13.23sINFOros2-11process started with pid [9232] ×2 + 13.23sINFOros2-12process started with pid [9233] ×2 + 13.23sINFOros2-13process started with pid [9234] ×2 + 13.23sINFOros2-14process started with pid [9235] ×2 + 13.23sINFOros2-15process started with pid [9236] ×2 + 13.23sINFOros2-16process started with pid [9237] ×2 + 13.23sINFOros2-17process started with pid [9238] ×2 + 13.23sINFOros2-18process started with pid [9239] ×2 + 13.23sINFOros2-19process started with pid [9240] ×2 + 13.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.30sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 13.30sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 13.30sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 13.30sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 13.30sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 13.31sINFOstatic_transform_publisherfrom 'mj_world' to 'world'[0m ×2 + 13.31sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.31sINFOmap_serverCreating + 13.31sINFOstatic_transform_publisherfrom 'map' to 'odom'[0m ×2 + 13.31sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.31sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.31sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.31sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.31sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.31sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495404 ms (missed cycles : 4).[0m ×2 + 13.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.31sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.35sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.35sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.40sINFOsmoother_serverCreating smoother server + 13.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.40sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.42sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.42sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.43sINFOlifecycle_manager_localizationCreating + 13.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.44sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.44sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.44sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.45sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.45sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.45sINFOmap_serverConfiguring + 13.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.47sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.49sINFOplanner_serverCreating + 13.51sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.52sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.52sINFOmap_serverActivating + 13.53sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.53sINFOglobal_costmap.global_costmapCreating Costmap + 13.54sINFOrobot_state_publisherRobot initialized + 13.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.55sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.55sINFOcontroller_managerReceived robot description from topic. + 13.55sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.55sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.55sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.56sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.58sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.59sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.59sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.59sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.63sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.63sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 13.63sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 13.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.68sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.68sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.69sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.69sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 13.71sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.74sINFObt_navigatorCreating + 13.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.79sINFOwaypoint_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. + 13.79sINFOwaypoint_followerCreating + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.84sINFOvelocity_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. + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.88sINFOlifecycle_manager_navigationCreating + 13.88sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.90sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.90sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.90sINFOcontroller_serverConfiguring controller interface + 13.90sINFOcontroller_servergetting progress checker plugins.. + 13.90sINFOcontroller_servergetting goal checker plugins.. + 13.90sINFOcontroller_serverController frequency set to 20.0000Hz + 13.90sINFOlocal_costmap.local_costmapConfiguring + 13.91sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.92sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.93sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.93sWARNscan_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 + 13.94sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 13.95sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 13.95sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 13.95sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 13.97sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.36758 seconds + 13.97sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 13.97sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 13.97sINFOmove_groupLoaded robot model in 0.36758 seconds[0m ×2 + 13.97sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 13.97sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 13.97sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 13.98sINFOcontroller_serverController Server has progress_checker progress checkers available. + 13.98sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 13.99sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 13.99sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.01sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.02sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.02sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.02sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.02sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.02sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.03sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.03sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.03sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.03sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.03sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.03sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.04sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.04sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.04sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.04sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.05sINFOcontroller_serverOptimizer reset + 14.06sINFOcontroller_serverController Server has FollowPath controllers available. + 14.08sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.08sINFOsmoother_serverConfiguring smoother server + 14.09sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.10sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.11sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.11sINFOplanner_serverConfiguring + 14.11sINFOglobal_costmap.global_costmapConfiguring + 14.13sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.14sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.14sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.14sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.15sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.20sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.20sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.21sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.24sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 14.24sINFOplanner_serverCleaning up + 14.24sINFOglobal_costmap.global_costmapCleaning up + 14.25sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.28sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.28sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.42sINFOwaypoint_manager_nodeLoaded robot model in 0.356385 seconds[0m ×2 + 14.42sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.42sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.50sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.50sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.50sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.51sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.52sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.53sWARNmove_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 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092735 ms (missed cycles : 7). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.092735 ms (missed cycles : 7).[0m ×2 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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 + 14.93sWARNwaypoint_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. + 14.93sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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 + 14.94sWARNwaypoint_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. + 14.95sWARNwaypoint_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. + 14.95sWARNwaypoint_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. + 14.95sWARNwaypoint_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. + 14.95sWARNwaypoint_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. + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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. + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_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 + 14.95sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.01sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×10 + 15.12sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.12sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.12sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.12sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.14sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.14sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.14sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.14sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.14sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.14sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.14sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.14sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.14sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.14sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.14sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.14sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.15sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.15sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.15sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.15sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.15sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.42sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.42sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.43sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.76sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.76sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.76sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.76sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.76sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.77sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.77sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.77sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.77sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.77sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.77sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.77sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.77sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.77sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.77sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.77sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.77sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.77sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.77sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.77sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.77sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.77sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.77sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791123 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791123 ms (missed cycles : 2).[0m ×2 + 15.79sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.79sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.79sWARNros2_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 + 16.02sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.02sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.02sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.02sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.13sINFOobjective_server_node[2026-06-30 17:48:05.199] [moveit_pro_license] [info] ×2 + 16.13sINFOobjective_server_node************************************************* ×4 + 16.13sINFOobjective_server_node* MoveIt Pro License ×2 + 16.13sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.14sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 16.14sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 16.17sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 16.17sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 16.18sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.22sINFOobjective_server_nodeLoaded robot model in 0.030472 seconds[0m ×2 + 16.22sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.22sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.24sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.24sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.44sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.44sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.46sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.67sINFOros2_control_node[2026-06-30 17:48:05.738] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.67sINFOros2_control_node[2026-06-30 17:48:05.742] [info] Controller state will be published at 10 Hz. ×2 + 16.67sINFOros2_control_node[2026-06-30 17:48:05.744] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.69sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.69sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.70sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.76sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 16.76sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 16.78sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 16.78sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 16.84sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 16.84sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 16.85sINFOcomponent_container_mtLoaded robot model in 0.392958 seconds[0m ×2 + 16.85sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.85sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108570 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108570 ms (missed cycles : 2).[0m ×2 + 17.05sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 17.06sINFOros2-17process has finished cleanly [pid 9238] ×2 + 17.06sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.06sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.06sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.06sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.07sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 17.07sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 17.09sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.09sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.10sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.10sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.10sINFOplatform_velocity_controller_nav2configure successful + 17.10sINFOros2_control_nodeconfigure successful[0m ×6 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.24sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.25sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sINFOros2-14process has finished cleanly [pid 9235] ×2 + 17.43sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 17.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 17.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 17.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 17.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.47sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 17.47sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 17.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.47sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 17.47sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 17.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 17.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 17.49sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 17.49sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 17.65sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.65sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.73sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 17.73sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 17.83sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 17.83sINFOmove_groupMoveGroup debug mode is ON + 17.83sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 17.83sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 17.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 17.84sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 17.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 17.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 17.92sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 17.92sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684484 ms (missed cycles : 4). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684484 ms (missed cycles : 4).[0m ×2 + 18.02sINFOros2-11process has finished cleanly [pid 9232] ×2 + 18.02sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.02sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.02sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.02sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.02sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 18.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.03sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.03sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.03sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.03sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.04sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 18.04sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 18.06sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.06sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.06sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.06sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.07sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 18.07sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 18.07sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.07sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.07sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.07sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.07sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.07sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.09sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 18.09sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 18.09sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.09sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.09sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.09sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.09sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.10sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.15sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.21sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 18.21sINFOmove_group ×8 + 18.21sINFOmove_group******************************************************** ×4 + 18.21sINFOmove_group* MoveGroup using: ×2 + 18.21sINFOmove_group* - apply_planning_scene_service ×2 + 18.21sINFOmove_group* - clear_octomap_service ×2 + 18.21sINFOmove_group* - ExecuteTaskSolution ×2 + 18.21sINFOmove_group* - get_group_urdf ×2 + 18.21sINFOmove_group* - load_geometry_from_file ×2 + 18.21sINFOmove_group* - get_planning_scene_service ×2 + 18.22sINFOmove_group* - kinematics_service ×2 + 18.22sINFOmove_group* - save_geometry_to_file ×2 + 18.22sINFOmove_group* - GetPlanningGroups ×2 + 18.22sINFOmove_group* - SetActiveControllerService ×2 + 18.22sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.22sINFOmove_group[0m ×2 + 18.22sINFOmove_group[92mYou can start planning now![0m ×2 + 18.37sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.37sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 18.37sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.37sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 18.41sINFOros2-13process has finished cleanly [pid 9234] ×2 + 18.46sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 18.46sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 18.52sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.52sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.52sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.52sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.59sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.89sINFOros2_control_node[2026-06-30 17:48:07.960] [info] Controller state will be published at 20 Hz. ×2 + 18.89sINFOros2_control_node[2026-06-30 17:48:07.961] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706385 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706385 ms (missed cycles : 3).[0m ×2 + 18.98sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.23sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.23sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 19.23sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 19.24sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 19.24sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 19.27sINFOros2-19process has finished cleanly [pid 9240] ×2 + 19.31sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 19.31sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 19.31sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 19.31sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 19.32sINFOplatform_velocity_controllerconfigure successful + 19.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 19.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 19.33sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 19.33sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 19.64sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.64sINFOcontroller_managerLoading controller 'velocity_force_controller' + 19.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 19.64sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.64sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 19.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 19.69sINFOros2-12process has finished cleanly [pid 9233] ×2 + 19.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 19.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 19.71sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 20.09sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.09sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 20.09sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.44sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.44sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 20.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 20.48sINFOros2-16process has finished cleanly [pid 9237] ×2 + 20.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.53sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.53sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.54sINFOforce_torque_sensor_broadcasterconfigure successful + 20.54sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.54sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.55sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.55sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.91sINFOros2-9process has finished cleanly [pid 9230] ×2 + 20.96sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.96sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.96sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 20.96sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 20.97sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 20.97sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 21.03sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.04sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.05sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.05sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.06sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.06sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.06sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.06sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 21.42sINFOros2-10process has finished cleanly [pid 9231] ×2 + 21.44sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 21.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.45sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 21.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.45sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 21.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 21.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 21.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.10sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 22.10sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 22.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 22.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 22.47sINFOros2-18process has finished cleanly [pid 9239] ×2 + 22.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.57sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.58sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.58sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.58sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.58sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 22.94sINFOros2-15process has finished cleanly [pid 9236] ×2 + 23.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 23.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 23.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 23.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.30sINFOmove_groupClearing octomap...[0m ×2 + 23.30sINFOmove_groupOctomap cleared.[0m ×2 + 23.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 23.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 23.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 24.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 24.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 25.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 25.18sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 25.18sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.18sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.20sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.20sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.21sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.21sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.21sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 25.21sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 25.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 25.78sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 25.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.79sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.79sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 25.80sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 27 warnings · 253 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.44sINFOros2-16process has finished cleanly [pid 9237] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.92sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.99sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2-10process has finished cleanly [pid 9231] ×2 + 1.40sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.06sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.53sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.54sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.90sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.80sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.80sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.06sINFOjoint_trajectory_controllerReceived new action goal + 7.06sINFOjoint_trajectory_controllerAccepted new action goal + 7.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 285 info |
+ 0.00sINFOros2-19process has finished cleanly [pid 9240] ×2 + 0.04sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 0.05sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.05sINFOplatform_velocity_controllerconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×4 + 0.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.42sINFOros2-12process has finished cleanly [pid 9233] ×2 + 0.44sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.46sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.82sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.83sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.18sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.18sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.22sINFOros2-16process has finished cleanly [pid 9237] ×2 + 1.25sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.26sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.26sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOforce_torque_sensor_broadcasterconfigure successful + 1.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.64sINFOros2-9process has finished cleanly [pid 9230] ×2 + 1.70sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 1.70sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 1.70sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 1.70sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.70sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.77sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.77sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.78sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.79sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.79sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.79sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.79sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 2.15sINFOros2-10process has finished cleanly [pid 9231] ×2 + 2.18sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.18sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.83sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 3.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 3.18sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 3.20sINFOros2-18process has finished cleanly [pid 9239] ×2 + 3.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.31sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.31sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.31sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.31sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.31sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.31sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.31sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.31sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.31sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.31sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.68sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.04sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.04sINFOmove_groupClearing octomap...[0m ×2 + 4.04sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 4.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.91sINFOobjective_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 + 5.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 6.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 6.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.54sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 21 warnings · 244 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.511434 ms (missed cycles : 6).[0m ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.159] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.162] [info] Controller state will be published at 10 Hz. ×2 + 0.05sINFOros2_control_node[2026-06-30 17:48:09.163] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.44sINFOros2-16process has finished cleanly [pid 9237] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.50sINFOforce_torque_sensor_broadcasterconfigure successful + 0.50sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.87sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.92sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.93sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.99sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 1.01sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 1.01sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 1.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 1.02sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 1.02sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 1.38sINFOros2-10process has finished cleanly [pid 9231] ×2 + 1.40sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.40sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.44sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.44sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.44sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.44sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.06sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 2.40sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.40sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.40sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.40sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 2.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 2.43sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.53sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.53sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.53sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.53sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.54sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.54sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.54sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.54sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.54sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.90sINFOros2-15process has finished cleanly [pid 9236] ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 5.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 5.14sINFOobjective_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 + 5.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 5.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.74sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.76sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[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 · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 236 info |
+ 0.00sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOforce_torque_sensor_broadcasterconfigure successful + 0.02sINFOros2_control_nodeconfigure successful[0m ×2 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.39sINFOros2-9process has finished cleanly [pid 9230] ×2 + 0.44sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.44sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.44sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.51sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 0.51sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460801 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2-10process has finished cleanly [pid 9231] ×2 + 0.92sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.92sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.93sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.93sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 0.93sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 0.96sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.96sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.164] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-06-30 17:48:11.165] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226122 ms (missed cycles : 2).[0m ×2 + 1.91sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.91sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.92sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs + 1.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_mkfos9l_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_jfugjwoy --params-file /tmp/launch_params_qjxeosrs [0m ×2 + 1.95sINFOros2-18process has finished cleanly [pid 9239] ×2 + 2.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.05sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.05sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.06sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.42sINFOros2-15process has finished cleanly [pid 9236] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649701 ms (missed cycles : 4).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782841692.36951900 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782841692.37977505 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782841692.94395852 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782841692.95410228 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183271 ms (missed cycles : 3).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782841693.49672794 seconds. ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782841693.64725709 seconds ×3 + 4.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782841694.23321629 seconds. ×3 + 4.65sINFOobjective_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 + 4.66sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.66sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.69sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3). + 4.69sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828161 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782841694.29336858 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782841694.85095263 seconds. ×3 + 5.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417566 ms (missed cycles : 3).[0m ×2 + 6.32sWARNobjective_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 + 6.32sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.58sINFOjoint_trajectory_controllerReceived new action goal + 6.58sINFOjoint_trajectory_controllerAccepted new action goal + 6.58sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.58sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956542 ms (missed cycles : 2).[0m ×2 | ||||